A privacy preserving distributed controller for the general formation of multi-agent systems in port-Hamiltonian form

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-06-19 DOI:10.1016/j.automatica.2025.112452

Jingyi Zhao , Yongxin Wu , Yuhu Wu , Yann Le Gorrec

引用次数: 0

Abstract

This paper considers the general formation control problem under the port-Hamiltonian framework and proposes a method to meet the requirements of general formation control while protecting agent privacy. First, the general formation control problem is expressed as an optimization problem whose solution satisfies the requirements of the general formation. To protect the sensitive data of each agent, a distributed controller is designed through the desired general formation output dynamic, which still maintains a port-Hamiltonian form, making the Hamiltonian function the natural choice for the Lyapunov function candidate. It is then shown that the designed system converges exponentially to the global optimum of the optimization problem. Finally, simulations on an application case, namely underactuated unmanned surface vehicles with different parameters are provided to verify the effectiveness of the proposed method.

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波特-哈密顿形式的多智能体系统一般形式的保密性分布式控制器

本文研究了端口-哈密顿框架下的一般编队控制问题，提出了一种既满足一般编队控制要求又能保护代理隐私的方法。首先，将一般编队控制问题表示为求解满足一般编队要求的优化问题。为了保护每个agent的敏感数据，通过期望的通用编队输出动态设计分布式控制器，该控制器仍然保持端口-哈密顿形式，使得哈密顿函数成为Lyapunov函数的自然选择。结果表明，所设计的系统指数收敛于优化问题的全局最优解。最后，通过不同参数下欠驱动无人水面车辆的仿真，验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.