On the robustness of networked cooperative tracking systems
On the robustness of networked cooperative tracking systems
复制标题
网络化协作跟踪系统的鲁棒性研究
DOI：
10.1016/j.automatica.2022.110280
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发表时间：
2022
期刊：
影响因子：
6.4
通讯作者：
Estabridis, Katia
中科院分区：
文献类型：
--
作者：
Liu, Mushuang;Wan, Yan;Lopez, Victor G.;Lewis, Frank L.;Hewer, Gary Arthur;Estabridis, Katia
本文提供了一个分析框架的鲁棒性网络多智能体系统（MAS）。众所周知，单智能体线性二次型调节器（LQR）系统可以保证60°的相位裕度和无穷大的增益裕度。然而，对于网络化的MAS，由于通信结构和Agent动态的相互作用所造成的复杂性，目前还没有关于保证稳定裕度的理论结果。本文分析了通信图拓扑结构对具有局部LQR设计的网络化协同跟踪系统鲁棒性的影响。对于这样的系统，我们提供了封闭形式的表达的相位和增益裕度调制的图形拓扑结构，以下的李雅普诺夫类型的分析。通过代数图论的结构分析，我们进一步得到了一般图拓扑MAS的稳定裕度的上界。我们证明了有向树通信拓扑是保证最佳稳定裕度的最鲁棒图拓扑之一，其稳定裕度与单智能体LQR系统中的稳定裕度一样好
This paper provides an analytical framework for the robustness of networked multi-agent systems (MAS). It is well-known that a single-agent linear quadratic regulator (LQR) system can guarantee 60° phase margin and infinite gain margin. However, for networked MAS, there exist no theoretical results on guaranteed stability margins, due to the complexity caused by the interplay of communication structure and agents’ dynamics. In this paper, we analyze the effect of communication graph topology on the robustness properties of networked cooperative tracking systems with local LQR designs. For such systems, we provide closed-form expressions of phase and gain margins modulated by their graph topology, following a Lyapunov type of analysis. We further derive upper bounds of stability margins for MAS with general graph topology, through a structural analysis based on the algebraic graph theory. We prove that the directed tree communication topology is among the most robust graph topology that promises the best stability margins, which are as good as the ones in a single-agent LQR system