带有初态误差的高阶多智能体系统一致性跟踪

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摘要本文借助迭代学习控制方法，针对一类在有限区间上执行重复任务的高阶多智能体，提出一种一致性跟踪算法.在跟踪过程中，通过对状态误差的修正，实现了一致性跟踪.在修正过程中，系统在某段时间内只修正某一种初态误差，当这种初态误差的修正操作完成以后紧接着开始下一种初态误差的修正，以此类推，最终实现所有初态误差的完全修正，并且所有修正操作在一个指定的时间内完成.最后，通过仿真算例验证了所提算法的有效性.

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	李国军
	陈东杰
	韩一士

关键词 ：多智能体, 迭代学习控制, 有向图, 收敛, Step-by-step修正

Abstract：In this paper, the problem of how to control the high-order multi-agent systems is considered by iterative learning method. During the process of tracking, the consistency tracking is realized after rectifying the initial state errors. In the process of rectifying, the systems only rectify a type of the state errors within a certain interval. When this type of state errors rectifying operation is completed, the systems begin to rectify another type of state errors, and so on. All the initial state errors can be completely rectified, and all the rectifying operations are completed within a specified time. Finally, the simulation results verify the effectiveness of the proposed algorithm.

Key words： multi-agent iterative learning control directed graph convergence step-by-step rectifying

收稿日期: 2017-05-10

PACS:

O212.7

引用本文:

李国军, 陈东杰, 韩一士. 带有初态误差的高阶多智能体系统一致性跟踪[J]. 应用数学学报, 2018, 41(2): 156-171. LI Guojun, CHEN Dongjie, HAN Yishi. Consensus Tracking of High-order Multi-agent Systems with Initial State Errors. Acta Mathematicae Applicatae Sinica, 2018, 41(2): 156-171.

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http://123.57.41.99/jweb_yysxxb/CN/ 或 http://123.57.41.99/jweb_yysxxb/CN/Y2018/V41/I2/156

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