Design of the communication structure of a self-organizing networked controller for heterogeneous agents
Design of the communication structure of a self-organizing networked controller for heterogeneous agents
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DOI：
10.1109/ecc.2015.7330865
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发表时间：
2015-07
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
研究了一种多智能体系统自组织网络控制器的通信结构设计。这些代理具有单独的动态，在基本通信结构内单向耦合，并且必须遵循命令信号。为了避免较大的控制错误并同时减少通信工作量，代理仅在其本地控制错误超过给定界时才从其他代理请求附加信息。结果，整个系统的通信拓扑被调整到当前控制任务，并且作为自组织的结果，呈现当前作用的命令信号的图像。利用控制误差的定量界，提出了一种设计通信结构和信息请求激活条件的算法。通过对一个机器人编队问题的应用，验证了该方法的有效性。
This paper concerns the design of the communication structure of a self-organizing networked controller 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 to simultaneously reduce the communication effort, the agents request additional information from other agents, only 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 currently acting command signal. A quantitative bound of the control error is used to develop an algorithm for designing the communication structure and the activation condition for the information request. The approach is demonstrated by its application to a robot formation problem.