Hu Hong-Xiang, Wen Changyun, Wen Guanghui
IEEE Trans Neural Netw Learn Syst. 2022 Nov;33(11):6946-6960. doi: 10.1109/TNNLS.2021.3084142. Epub 2022 Oct 27.
A swarming behavior problem is investigated in this article for heterogeneous uncertain agents with cooperation-competition interactions. In such a problem, the agents are described by second-order continuous systems with different intrinsic nonlinear terms, which satisfies the "linearity-in-parameters" condition, and the agents' models are coupled together through a distributed protocol containing the information of competitive neighbors. Then, for four different types of cooperation-competition networks, a distributed Lyapunov-based redesign approach is proposed for the heterogeneous uncertain agents, where the distributed controller and the estimation laws of unknown parameters are obtained. Under their joint actions, the heterogeneous uncertain multiagent system can achieve distributed stabilization for structurally unbalanced networks and output bipartite consensus for structurally balanced networks. In particular, the concept of coherent networks is proposed for structurally unbalanced directed networks, which is beneficial to the design of distributed controllers. Finally, four illustrative examples are given to show the effectiveness of the designed distributed controller.
本文研究了具有合作 - 竞争相互作用的异构不确定智能体的群体行为问题。在这样一个问题中，智能体由具有不同固有非线性项的二阶连续系统描述，满足“参数线性化”条件，并且智能体模型通过包含竞争邻居信息的分布式协议耦合在一起。然后，针对四种不同类型的合作 - 竞争网络，为异构不确定智能体提出了一种基于分布式李雅普诺夫的重新设计方法，得到了分布式控制器和未知参数的估计律。在它们的联合作用下，异构不确定多智能体系统对于结构不平衡网络可实现分布式稳定，对于结构平衡网络可实现输出二分共识。特别地，针对结构不平衡有向网络提出了相干网络的概念，这有利于分布式控制器的设计。最后，给出了四个示例来说明所设计的分布式控制器的有效性。
