Cooperative control of discrete-time agents with delayed information exchange: A receding-horizon approach
Cooperative control of discrete-time agents with delayed information exchange: A receding-horizon approach
复制标题
具有延迟信息交换的离散时间代理的协作控制：一种后退视野方法
DOI：
10.1109/cdc.2004.1429423
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
M. Polycarpou
中科院分区：
文献类型：
--
作者：
Elisa Franco;T. Parisini;M. Polycarpou
本文考虑了一组分布式智能体的协同控制问题。每个代理被假定为在离散时间和交换延迟的状态信息与相邻的或合作的代理的子集。控制设计公式是基于一个有限的地平线成本函数，其中包括监管和合作目标的定义。协作控制问题是制定在一个滚动时域框架，控制法可以明确地分为两个部分：一个是由于从本地状态变量的反馈和其他的基础上收集的延迟信息从合作的邻居代理。整个系统的全局稳定性和性能分析和仿真结果被用来说明所提出的控制方案的有效性。
Cooperative control by a team of distributed agents is considered in this paper. Each agent is assumed to evolve in discrete-time and exchange delayed state information with a subset of neighboring or cooperating agents. The control design formulation is based on the definition of a finite-horizon cost function that includes both the regulation and cooperation objectives. The cooperative control problem is formulated in a receding-horizon framework, where the control law can be explicitly broken up in two components: one due to feedback from the local state variables and the other based on delayed information gathered from cooperating neighboring agents. The global stability and performance analysis of the overall system is shown and simulation results are used to illustrate the effectiveness of the proposed control scheme.