Self-organizing control of unidirectionally coupled heterogeneous agents with information request
Self-organizing control of unidirectionally coupled heterogeneous agents with information request
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DOI：
10.1109/cdc.2014.7039763
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发表时间：
2014-12
期刊：
影响因子：
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通讯作者：
René Schuh;J. Lunze
中科院分区：
文献类型：
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作者：
René Schuh;J. Lunze
提出了一种用于多智能体系统命令跟踪的自组织网络控制器。代理具有个体动态，在基本通信结构中单向耦合，并且必须遵循命令信号。为了避免较大的控制错误，同时减少通信工作量，如果代理的本地控制错误超过给定范围，则代理会向其他代理请求额外的信息。因此，整个系统的通信拓扑结构根据当前的控制任务进行调整，并且由于自组织的结果，在任何时候都呈现出正在执行的命令信号的图像。根据信息激活条件的选择，导出了控制误差的定量界。提出了一种设计通信结构和请求附加信息激活条件的算法。通过对机器人编队问题的求解，验证了该方法的有效性。
This paper presents a self-organizing networked controller for command tracking of multi-agent systems. The agents have individual dynamics, are unidirectionally coupled within a basic communication structure and have to follow a command signal. To avoid large control errors and simultaneously reduce the communication effort, the agents request additional information from other agents, if their local control error exceeds a given bound. As a consequence, the communication topology of the overall system is adjusted to the current control task and, as a result of the self-organization, presents an image of the acting command signal at all times. A quantitative bound of the control error is derived in dependence upon the choice of the information activation condition. An algorithm for designing the communication structure and the activation condition for requesting additional information is presented. The approach is demonstrated by its application to a robot formation problem.