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单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制

彭周华 王丹 王昊 王巍

彭周华, 王丹, 王昊, 王巍. 单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制. 自动化学报, 2014, 40(11): 2595-2601. doi: 10.3724/SP.J.1004.2014.02595
引用本文: 彭周华, 王丹, 王昊, 王巍. 单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制. 自动化学报, 2014, 40(11): 2595-2601. doi: 10.3724/SP.J.1004.2014.02595
PENG Zhou-Hua, WANG Dan, WANG Hao, WANG Wei. Cooperative Iterative Learning Control of Linear Multi-agent Systems with a Dynamic Leader under Directed Topologies. ACTA AUTOMATICA SINICA, 2014, 40(11): 2595-2601. doi: 10.3724/SP.J.1004.2014.02595
Citation: PENG Zhou-Hua, WANG Dan, WANG Hao, WANG Wei. Cooperative Iterative Learning Control of Linear Multi-agent Systems with a Dynamic Leader under Directed Topologies. ACTA AUTOMATICA SINICA, 2014, 40(11): 2595-2601. doi: 10.3724/SP.J.1004.2014.02595

单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制

doi: 10.3724/SP.J.1004.2014.02595
基金项目: 

Supported by National Natural Science Foundation of China (61273137, 51209026, 61074017), the Scientific Research Fund of Liaoning Provincial Education Department (L2013202), and the Fundamental Research Funds for the Central Universities (3132013037, 3132014047, 3132014321)

Cooperative Iterative Learning Control of Linear Multi-agent Systems with a Dynamic Leader under Directed Topologies

Funds: 

Supported by National Natural Science Foundation of China (61273137, 51209026, 61074017), the Scientific Research Fund of Liaoning Provincial Education Department (L2013202), and the Fundamental Research Funds for the Central Universities (3132013037, 3132014047, 3132014321)

  • 摘要: 研究单向通信拓扑领航者动态未知线性多智能体系统的协同跟踪问题.基于邻居的相对状态信息,设计了分布式迭代学习控制律实现对领航者的协同跟踪控制,采用Lyapunov-Krasovskii函数分析闭环系统的稳定性与收敛性.进而,将状态反馈结论拓展到输出反馈,通过构造局部观测器估计不可量测的状态信息,采用估计的相对状态信息设计了分布式迭代学习控制器.对于以上两种情形,多智能体系统在通讯拓扑含有生成树的条件下能够实现与领航者的状态同步,同时,所设计的分布式迭代学习律能够对领航者未知输入进行精确估计.仿真实例验证了所提方法的有效性.
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出版历程
  • 收稿日期:  2013-06-24
  • 修回日期:  2013-09-06
  • 刊出日期:  2014-11-20

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