合作−竞争广义不确定异构多智能体系统的二分输出一致

张捷; 姚瑶; 王健安; 丁大伟; 李晓磊; 李志强

doi:10.16383/j.aas.c240750

合作−竞争广义不确定异构多智能体系统的二分输出一致

doi: 10.16383/j.aas.c240750 cstr: 32138.14.j.aas.c240750

张捷^{1, 2,},
姚瑶^{1, 2,},
王健安^{1, 2,},
丁大伟^3,,
李晓磊^4,,
李志强^5,

1.
太原科技大学电子信息工程学院太原 030024
2.
先进控制与工业智能山西省重点实验室太原 030024
3.
北京科技大学自动化学院北京 100083
4.
燕山大学电气工程学院秦皇岛 066004
5.
中国电子科技集团公司第三十二研究所上海 201808

基金项目: 山西省基础研究计划(202203021222186), 山西省重点研发计划(202202100401002, 2022ZDYF069)资助

详细信息

作者简介:
张捷：太原科技大学电子信息工程学院副教授. 主要研究方向为多智能体系统协同输出调节和容错控制. 本文通信作者. E-mail: 2022042@tyust.edu.cn

姚瑶：太原科技大学电子信息工程学院硕士研究生. 主要研究方向为多智能体系统协同控制. E-mail: s202215210600@stu.tyust.edu.cn

王健安：太原科技大学电子信息工程学院教授. 主要研究方向为多智能体系统协同控制和复杂网络. E-mail: jiananwang@tyust.edu.cn

丁大伟：北京科技大学自动化学院教授. 主要研究方向为信息物理系统安全控制和多智能体系统协同控制. E-mail: dingdawei@ustb.edu.cn

李晓磊：燕山大学电气工程学院副教授. 主要研究方向为分布式安全控制和水下机器人控制. E-mail: xiaolei@ysu.edu.cn

李志强：中国电子科技集团公司第三十二研究所工程师. 主要研究方向为信息物理系统安全控制. E-mail: lizhiqiang@ecict.com.cn

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出版历程
- 收稿日期: 2024-11-24
- 录用日期: 2025-09-18
- 网络出版日期: 2025-10-27

Bipartite Output Consensus of Cooperative-competitive Descriptor Uncertain Heterogeneous Multi-agent Systems

Zhang Jie^{1, 2
,},
Yao Yao^{1, 2
,},
Wang Jian-An^{1, 2
,},
Ding Da-Wei^3
,,
Li Xiao-Lei^4
,,
Li Zhi-Qiang^5
,

1.
School of Electronics Information Engineering, Taiyuan Uni-versity of Science and Technology, Taiyuan 030024
2.
Shanxi Key Laboratory of Advanced Control and Industrial Intelligence, Taiyuan 030024
3.
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083
4.
School of Electrical Engineering, Yanshan University, Qinhuangdao 066004
5.
The 32nd Research Institute of China Electronics Technology Group Corporation, Shanghai 201808

Funds: Supported by Basic Research Program of Shanxi Province (202203021222186) and Key Research and Development Program of Shanxi Province (202202100401002, 2022ZDYF069)

More Information

Author Bio:
ZHANG Jie　Associate professor at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. His research interest covers cooperative output regulation and fault-tolerant control of multi-agent systems. Corresponding author of this paper

YAO Yao　Master student at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. Her main research interest is cooperative control of multi-agent systems

WANG Jian-An　Professor at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. His research interest covers cooperative control of multi-agent systems and complex networks

DING Da-Wei　Professor at the School of Automation and Electrical Engineering, University of Science and Technology Beijing. His research interest covers secure control of cyber-physical systems and cooperative control of multi-agent systems

LI Xiao-Lei　Associate professor at the School of Electrical Engineering, Yanshan University. His research interest covers distributed security control and underwater robotic vehicle control

LI Zhi-Qiang　Engineer at the 32nd Research Institute of China Electronics Technology Group Corporation. His research interest covers secure control of cyber-physical systems

摘要

摘要: 针对符号有向图下合作−竞争广义不确定异构多智能体系统的二分输出一致问题, 基于协同鲁棒输出调节原理提出新型分布式控制算法, 使得具有竞争关系和不同动态的两组智能体能够分别跟踪幅值相等、符号相反的外系统输出.首先, 为了实现对不确定系统参数的动态补偿, 引入基于外系统观测器的动态内模补偿器, 进而设计分布式状态反馈控制协议. 区别于传统协同输出调节问题, 通过将二分一致性问题转化为增广闭环广义系统的稳定性问题, 证明了在不依赖广义调节方程精确解的情况下, 提出的控制器能够实现小范围参数摄动下的二分输出跟踪. 其次, 在状态不可获知条件下, 通过重构动态内模补偿器, 设计了分布式二分输出反馈控制协议. 最后, 通过仿真算例证明了所提出的分布式协同控制算法的有效性.
- 广义不确定系统 /
- 多智能体系统 /
- 协同输出调节 /
- 内模原理 /
- 二分输出一致
Abstract: For the bipartite output consensus problem of cooperative-competitive descriptor uncertain heterogeneous multi-agent systems under signed directed topology, a new distributed control algorithm is proposed based on the cooperative robust output regulation principle, enabling two groups of agents with competitive relationships and different dynamics to track the outputs of an exosystem with equal magnitude and opposite signs, respectively. Firstly, to achieve dynamic compensation for uncertain system parameters, a dynamic internal model compensator based on an exosystem observer is introduced, and then a distributed state feedback control protocol is designed. Distinguished from traditional cooperative output regulation problems, by transforming the bipartite consensus problem into the stability problem of an augmented closed-loop descriptor system, it can be proven that the proposed controller can achieve bipartite output tracking under small-range parameter perturbations without relying on the exact solution of the descriptor regulation equation. Secondly, under the condition that the state is unmeasurable, by reconstructing the dynamic internal model compensator, a distributed bipartite output feedback control protocol is designed. Finally, the effectiveness of the proposed distributed cooperative control algorithm is demonstrated through simulation examples.
- Singular uncertain system /
- multi-agent systems /
- cooperative output regulation /
- internal model principle /
- bipartite output consensus

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图 1 地面无人车与空中无人机协同救援

Fig. 1 Cooperative rescue of ground unmanned vehicle and air unmanned aerial vehicle

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图 2 系统通信拓扑图

Fig. 2 System communication topology

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图 3 分布式二分控制器(28)下的输出轨迹

Fig. 3 The output trajectories under distributed bipartite controller (28)

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图 4 分布式二分控制器(28)下的输出误差

Fig. 4 The output errors under the distributed bipartite controller (28)

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图 5 分布式二分控制器(57)下的输出轨迹

Fig. 5 The output trajectories under distributed bipartite controller (57)

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图 6 分布式二分控制器(57)下的误差轨迹

Fig. 6 The output errors under the distributed bipartite controller (57)

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