带时延与丢包的网络化多智能体系统控制器设计

网络时延与数据丢包极大地降低了网络化多智能体系统的控制性能,甚至会破坏稳定性.考虑存在网络时延与数据丢包的网络化多智能体系统,提出了一种基于时延与丢包补偿机制的预测控制器设计方法,来主动地消除网络时延与数据丢包的影响.通过对网络化多智能体预测控制系统的分析,给出了能够保证系统稳定性与一致性的控制器设计步骤.最后的仿真实例表明了该方法的有效性.

Predictive controller for networked multi-agent systems with communication delay and packet loss

Communication delay and packet loss highly degrade the control performances of networked multi-agent systems (NMAS). This paper addresses the problem by presenting a novel predictive control technique using a time-delay and packet-loss compensation scheme. The principle of the time-delay and packet-loss compensation scheme is employed to remove the effects of network delay and packet loss. Furthermore, another key part of this paper is to analyse the stability and consensusability of close-loop NMAS on the basis of the designed predictive controller. Finally, simulation results illustrate the efficacy of the proposed method.
Keywords： communication delay packet loss networked multi-agent systems predictive control