未知干扰下多智能体系统任意预设时间的滑模编队优化

吴浩; 过榴晓; 张建成

doi:10.21656/1000-0887.450303

未知干扰下多智能体系统任意预设时间的滑模编队优化

doi: 10.21656/1000-0887.450303

江南大学理学院, 江苏无锡 214000

基金项目:

BK20171142)

国家自然科学基金(61973137

61807016)；江苏省自然科学基金(BK20181342

详细信息

作者简介:
吴浩（1999—），男，硕士生(E-mail: 6231204030@stu.jiangnan.edu.cn);过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

通讯作者:
过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

中图分类号: O19
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- 文章访问数: 16
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- 被引次数: 0
出版历程
- 收稿日期: 2024-11-07
- 修回日期: 2025-02-26
- 网络出版日期: 2026-04-30

Sliding Mode Formation Optimization for Multi-Agent Systems With Unknown Disturbances in Predefined Time

School of Science, Jiangnan University, Wuxi, Jiangsu 214000, P.R.China

Funds:

The National Science Foundation of China(61973137

61807016)

摘要

摘要: 针对无领导者的多智能体系统，研究未知干扰下实现任意预设时间分布式编队优化的问题，最小化所有智能体局部强凸函数构成的全局代价函数.提出一类基于滑模控制的编队优化算法，能够在用户预设的时间内实现多智能体系统的编队控制.该算法分为三个部分：首先，采用积分滑模控制策略，引导预设时间内每个智能体趋于滑模面，有效地抑制外部干扰；然后，设计协议控制引导每个智能体状态到达其局部代价函数的最小值点；最后，所有智能体实现无领导编队，且到达全局代价函数的最小值点.该算法无需智能体共享邻居的梯度和Hesse矩阵信息，从而节约信息交换成本，可以处理高度非线性多值强凸代价函数.数值实验的多个例子验证了设计控制协议算法的有效性和可靠性.
- 多智能体系统 /
- 分布式优化 /
- 编队控制 /
- 预设时间 /
- 滑模控制
Abstract: For leader-less multi-agent systems, the problem of distributed formation optimization in predefined time under unknown disturbances was studied, and the global cost function composed of local strongly convex functions for all agents was minimized. A class of formation optimization algorithms based on the sliding mode control was proposed to realize the formation control of multi-agent systems within the predefined time. The algorithm was divided into 3 parts: firstly, the integrated sliding mode control strategy was used to guide each agent to approach the sliding mode surface in the predefined time, and the external interference was effectively suppressed; then, the design protocol control was employed to guide each agent state to the minimum point of its local cost function; finally, the leaderless formation was realized for all agents to reach the minimum point of the global cost function. The algorithm does not require agents to share the gradients and Hessian matrix information of neighbors, thus saving the information exchange cost, and can deal with highly nonlinear multi-valued strongly convex cost functions. Several examples of numerical experiments demonstrate the effectiveness and reliability of the design control protocol algorithm.
- multi-agent system /
- distributed optimization /
- formation control /
- predefined time /
- sliding mode control

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参考文献(30)

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未知干扰下多智能体系统任意预设时间的滑模编队优化

doi: 10.21656/1000-0887.450303

作者简介:
吴浩（1999—），男，硕士生(E-mail: 6231204030@stu.jiangnan.edu.cn);过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

通讯作者:
过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

计量

Sliding Mode Formation Optimization for Multi-Agent Systems With Unknown Disturbances in Predefined Time

计量

目录

留言板

未知干扰下多智能体系统任意预设时间的滑模编队优化

doi: 10.21656/1000-0887.450303

作者简介: 吴浩（1999—），男，硕士生(E-mail: 6231204030@stu.jiangnan.edu.cn);过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

通讯作者: 过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

计量

出版历程

Sliding Mode Formation Optimization for Multi-Agent Systems With Unknown Disturbances in Predefined Time

计量

出版历程

目录

作者简介:
吴浩（1999—），男，硕士生(E-mail: 6231204030@stu.jiangnan.edu.cn);过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.

通讯作者:
过榴晓(1975—)，女，副教授，博士（通信作者. E-mail: guoliuxiao@jiangnan.edu.cn）.