论文标题
通过受约束的不稳定系统的约束不变集的共识
Consensus of Multi-agent System via Constrained Invariant Set of a class of Unstable System
论文作者
论文摘要
这项工作显示了一种在每个代理受输入约束的多代理环境中实现异质剂之间达成输出共识的方法。代理之间的通信是通过随时间变化的定向/无向图来描述的。该方法基于使用不稳定参考系统的众所周知的内部模型原则。这项工作的一个主要贡献是对组合代理参考系统的最大约束不变集（MCAI）的表征。通常，不稳定系统不存在MCAI集合。这项工作表明，对于不稳定的重要一类代理参考系统，MCAI存在并且可以计算。该MCAI集合用于参考调查员方法，并结合预测的共识算法，以实现所有代理的输出共识，同时满足每个代理的约束。提供了示例以说明方法。
This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying directed/undirected graph. The approach is based on the well-known Internal Model Principle which uses an unstable reference system. One main contribution of this work is the characterization of the maximal constraint admissible invariant set (MCAI) for the combined agent-reference system. Typically, MCAI sets do not exist for unstable system. This work shows that for an important class of agent-reference system that is unstable, MCAI exists and can be computed. This MCAI set is used in a Reference Governor approach, combined with a projected consensus algorithm, to achieve output consensus of all agents while satisfying constraints of each. Examples are provided to illustrate the approach.
