Data-Driven Multiagent Systems Consensus Tracking Using Model Free Adaptive Control
Data-Driven Multiagent Systems Consensus Tracking Using Model Free Adaptive Control
复制标题
使用无模型自适应控制的数据驱动多代理系统共识跟踪
DOI：
10.1109/tnnls.2017.2673020
复制
发表时间：
2018-05-01
影响因子：
10.4
通讯作者：
Zhang, Hongwei
中科院分区：
文献类型：
--
作者：
Bu, Xuhui;Hou, Zhongsheng;Zhang, Hongwei
本文通过利用分布式模型自适应控制（MFAC）方法研究了具有固定通信拓扑和切换拓扑的多型系统系统的数据驱动共识跟踪问题。在这里，代理的动力学由未知的非线性系统描述，只有一部分追随者才能访问所需的轨迹。基于伪部分导数将动力线性化技术应用于每个代理，然后提出了分布式MFAC算法，以确保所有代理都可以跟踪所需的轨迹。结果表明，对于时间不变和时间变化的所需轨迹，可以减少共识误差。该设计的主要功能是只能使用每个代理的输入输出数据来实现共识跟踪。拟议设计的有效性通过仿真示例验证。
This paper investigates the data-driven consensus tracking problem for multiagent systems with both fixed communication topology and switching topology by utilizing a distributed model free adaptive control (MFAC) method. Here, agent's dynamics are described by unknown nonlinear systems and only a subset of followers can access the desired trajectory. The dynamical linearization technique is applied to each agent based on the pseudo partial derivative, and then, a distributed MFAC algorithm is proposed to ensure that all agents can track the desired trajectory. It is shown that the consensus error can be reduced for both time invariable and time varying desired trajectories. The main feature of this design is that consensus tracking can be achieved using only input-output data of each agent. The effectiveness of the proposed design is verified by simulation examples.