具有未知但有界测量误差的多智能体系统的鲁棒一致性协议

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-19 DOI:10.1016/j.jfranklin.2025.107580

Quchao Ma, Cheng Song

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引用次数: 0

摘要

本文重新研究了存在未知但有界测量误差的多智能体系统（MASs）的一致性问题。与现有的研究不同，本文提出的方法为不同的测量误差提供了不同的上限。采用分布式估计算法，利用不准确的状态测量来估计相邻agent之间的状态差。在此估计算法的基础上，开发了一种分布式鲁棒共识协议。结果表明，所提出的协议将MAS驱动到一个共识邻域，有效地减轻甚至消除了UBB测量误差对多智能体共识的影响。进一步将分析扩展到解决具有UBB测量误差的质量的正一致性问题。最后，通过数值模拟验证了所提共识协议的有效性。

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Robust consensus protocols of multi-agent systems with unknown but bounded measurement errors

This paper revisits the consensus problem for multi-agent systems (MASs) in the presence of unknown but bounded (UBB) measurement errors. Unlike existing works, the proposed approach accommodations agents with different upper bounds for their measurement errors. A distributed estimation algorithm is employed to estimate the state differences between neighboring agents using the inaccurate state measurements. Building on this estimation algorithm, a distributed robust consensus protocol is developed. It is demonstrated that the proposed protocol drives the MAS to a neighborhood of consensus, effectively mitigating or even eliminating the influence of UBB measurement errors on multi-agent consensus. The analysis is further extended to address the positive consensus problem for MASs with UBB measurement errors. Finally, numerical simulations confirm the effectiveness of the proposed consensus protocols.

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来源期刊

Journal of The Franklin Institute-engineering and Applied Mathematics 工程技术-工程：电子与电气

CiteScore

7.30

自引率

14.60%

发文量

586

审稿时长

6.9 months

期刊介绍： The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.