Research on Cooperative Output Regulation Problem of Multi-Agent Systems with Time-Varying Delay under Dynamic Topology

动态拓扑下时变时延多智能体系统的协同输出调节问题研究

School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, China

Received: 26 July 2018

Abstract

The random data loss that occurs during the communication process of multi-agent systems will lead to the dynamic switching of network topology. The time-varying communication delay will cause the agents to update their control inputs irregularly and asynchronously. In this paper, we deal with the cooperative output regulation problem of multi-agent systems with both random data loss and time-varying communication delay. By applying a queuing mechanism, the multi-agent systems with time-varying communication delay can be modeled as the multi-agent systems with constant communication delay and stochastic packet dropout. Based on the queuing mechanism, we designed the distributed state observers of the leader and the followers. Then, a new distributed measurement output feedback control algorithm is proposed. Under some standard assumptions, the proposed algorithm can solve the cooperative output regulation problem of multi-agent systems with both stochastic packet dropout and time-varying communication delay for unstable or stable exosystem. Then, the corresponding conditions for solving the cooperative output regulation problem are given, respectively. The simulation results show that the measurement output feedback control algorithm based on queue mechanism can effectively solve the cooperative output regulation problem of multi agent systems with time-varying delay under dynamic network topology.

摘要

网络通信过程中的随机数据丢失等现象将导致网络拓扑结构的动态切换，时变通信时延将导致智能体无规律地异步更新控制输入。针对随机数据丢包和时变通信时延同时存在的多智能体系统，研究其协同输出调节问题。通过引入队列机制，具有时变通信时延的多智能体系统被转化为具有固定通信时延和随机数据丢失的多智能体系统，随后给出基于队列机制的分布式状态变量动态观测器，进而设计出相应的分布式测量输出反馈控制算法。针对具有不稳定外部系统和稳定外部系统多智能体系统，在满足标准假设的前提下，分别给出了解决其协同输出调节问题的充要条件。仿真结果表明，基于队列机制的分布式测量输出反馈控制算法可有效解决动态网络拓扑下具有时变通信时延的多智能体系统协同输出调节问题。