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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2020, Vol. 54 Issue (7): 1308-1315    DOI: 10.3785/j.issn.1008-973X.2020.07.008
    
Synchronization of multi-agent systems based on static output feedback protocol
Hang-lei SHAO(),Dong-mei ZHANG*()
College of Science, Zhejiang University of Technology, Hangzhou 310023, China
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Abstract  

Synchronization and finite-time synchronization of multi-agent systems was addressed. A static output feedback protocol was designed based on the output information of neighbor nodes. The synchronization control problem of multi-agent systems was transformed into a stabilization problem of a class of synchronization error systems, and sufficient conditions were derived to ensure synchronization and finite-time synchronization for the closed-loop system. The optimal static output feedback gain was obtained by iteratively solving a class of optimization problems with inequality constraints and using the separation method, so that the corresponding performance index was minimized. The feasibility of the results was verified by numerical examples. The influence of parameters on the solution space was analyzed, and the feasible parameters were obtained.

Key words： multi-agent systems      static output feedback protocol      synchronization      finite-time synchronization      H∞ performance     
Received: 15 June 2019      Published: 05 July 2020
CLC:  TP 11  
Corresponding Authors: Dong-mei ZHANG     E-mail: hcylmath@163.com;meidzh@zjut.edu.cn
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Hang-lei SHAO
Dong-mei ZHANG
Cite this article:

Hang-lei SHAO,Dong-mei ZHANG. Synchronization of multi-agent systems based on static output feedback protocol. Journal of ZheJiang University (Engineering Science), 2020, 54(7): 1308-1315.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.07.008     OR     http://www.zjujournals.com/eng/Y2020/V54/I7/1308


基于静态输出反馈协议的多智能体系统同步

研究多智能体系统的同步和有限时间同步问题.基于邻居节点的输出信息设计静态输出反馈协议，将多智能体系统同步控制问题转化为一类同步误差系统的镇定问题，导出使该系统同步和有限时间同步的充分条件.采用分离方法，通过迭代求解含有不等式约束的优化问题，得到最优的静态输出反馈增益，使得相应的性能指标最小. 通过数值算例验证了结果的可行性，研究参数对解空间的影响，得到参数可行域.


关键词： 多智能体系统,  静态输出反馈协议,  同步,  有限时间同步,  H∞性能 
Fig.1 Flow chart of output feedback gain algorithm
Fig.2 Communication topology for multi-agent systems
Fig.3 State trajectory of open-loop system（1）
文献 $K$ $\gamma $
文献[22] ?0.231 5 1.205 1
本文 ?0.474 7 0.250 8
Tab.1 Comparison of performance index $ {\rm{H}}_{{\infty }} $ between this paper and reference [22]
Fig.4 State trajectory of closed-loop system（1）
Fig.5 Communication topology for multi-agent systems
Fig.6 Synchronization error norm trajectory of open-loop system (7)
Fig.7 State trajectory of closed-loop system (1)
Fig.8 Synchronization error norm trajectory of closed-loop system (7)
Fig.9 Synchronization error norm trajectories for different T
Fig.10 Synchronization error norm trajectories for different initial state values
Fig.11 State trajectory of closed-loop system (1) for $r(t) = {t^{0.5}}/2$
Fig.12 State trajectory of closed-loop system (1) for r(t) = $ {{\sqrt {30} }}{\exp\;{{(t/6)}}}/$10
Fig.13 Feasible region of parameters G and q
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