随机多智能体系统的多率协同控制

Multi-rate cooperative control of stochastic multi-agent systems

摘要:

本文针对一类带有非线性动力学的随机多智能体系统研究了基于多率采样机制的一致性控制问题。首先，引入多率采样机制异步地对智能体的状态进行采样，并且使用缓存器来同步智能体不同分量的状态信息。然后，提出了一种基于边的事件触发传输机制将每个智能体的状态信息定向传输给邻居智能体，从而减少了通信资源的使用和控制器的更新频率。接着，本文根据所设计的事件触发传输机制设计了相应的控制协议使得随机多智能体系统可以实现均方一致性。因为每条边上的事件都是独立发生的，所以智能体的邻居之间不需要保证信息的时钟同步。最后，给出了数值仿真例子。通过将同步采样机制、异步采样机制和多率采样机制进行比较，说明了所提出的边事件触发传输机制在多率采样下可以获得更好的系统性能。

Abstract:

This paper studies the consensus control problem for a class of stochastic multi-agent systems with nonlinear dynamics based on multi-rate sampling mechanism. First, a multi-rate sampling mechanism is introduced to sample the agent’s state asynchronously and a buffer is used to synchronize the state information of different components of the agent. Then, an edge-based event-triggered transmission mechanism is proposed to transmit the information of each agent to its neighbors in a directional manner, thereby reducing the use of communication resources and the update frequency of the controller. Next, according to the designed event-triggered transmission mechanism, the corresponding control protocol is proposed to make the stochastic multi-agent system achieve mean square consensus. Since events on different edges occur independently of each other, there is no need for clock synchronization among neighbors. Finally, a numerical simulation example is given. By comparing the synchronous sampling mechanism, the asynchronous sampling mechanism and the multi-rate sampling mechanism, we show that the proposed edge-based event-triggered transmission mechanism can achieve better performance under the multi-rate sampling mechanism.