扰动下双积分器多智能体系统的一致性：两种基于pi的协议

IF 4.4 3区计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Systems Journal Pub Date : 2025-02-06 DOI:10.1109/JSYST.2025.3532511

Wenfeng Hu;Yulong Jiang;Biao Luo;Tingwen Huang

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引用次数: 0

摘要

本文分析了常扰动下双积分多智能体系统的一致性问题。首先，我们提出了一种基于比例积分（PI）的共识协议，该协议具有线性积分器，在该协议下，系统可以在没有任何稳态误差的情况下达成共识。通过对闭环系统矩阵的直接分析，导出了参数选择的充分必要条件。随后，为了克服线性积分器的相位滞后缺陷，我们提出了一种新的基于pi的分路非线性积分器协议。非线性共识协议不仅可以保证系统达到渐近共识，而且可以提高系统在超调方面的暂态性能。最后，通过仿真比较验证了所提协议的有效性。

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Consensus of Double-Integrator Multiagent Systems Under Disturbances: Two Types of PI-Based Protocols

This article analyzes the consensus of double-integrator multiagent systems subjected to constant disturbances. First, we propose a proportional–integral (PI)-based consensus protocol with a linear integrator, under which the system can achieve consensus without any steady-state error. By directly analyzing the closed-loop system matrix, a necessary and sufficient condition for parameter selection is derived. Subsequently, to overcome the phase lag defect of the linear integrator, we propose a new PI-based protocol with a split-path nonlinear integrator. The nonlinear consensus protocol can not only ensure that the system achieves asymptotic consensus, but also enhance the transient performance with respect to overshoot. Finally, some simulation comparisons are conducted to validate the effectiveness of the proposed protocols.

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来源期刊

IEEE Systems Journal 工程技术-电信学

CiteScore

9.80

自引率

6.80%

发文量

572

审稿时长

4.9 months

期刊介绍： This publication provides a systems-level, focused forum for application-oriented manuscripts that address complex systems and system-of-systems of national and global significance. It intends to encourage and facilitate cooperation and interaction among IEEE Societies with systems-level and systems engineering interest, and to attract non-IEEE contributors and readers from around the globe. Our IEEE Systems Council job is to address issues in new ways that are not solvable in the domains of the existing IEEE or other societies or global organizations. These problems do not fit within traditional hierarchical boundaries. For example, disaster response such as that triggered by Hurricane Katrina, tsunamis, or current volcanic eruptions is not solvable by pure engineering solutions. We need to think about changing and enlarging the paradigm to include systems issues.