ABSTRACT

The paper investigates the synchronisation of disturbed multi-agent systems. The first result shows that dynamical local controllers have to be used to introduce the model of the disturbances into each of the extended agents. This result generalises the Internal-Model Principle from multivariable control to multi-agent systems with arbitrary communication structure. A test for the satisfaction of the Internal-Model Principle is provided. The second result is a necessary and sufficient condition for the asymptotic synchronisation of the disturbed agents. Third, the synchronisability of the agents is investigated and it is shown that additional dynamics in the local controllers may be necessary to make the extended agents synchronisable. Fourth, a design method is proposed to find a networked controller that synchronises the agent outputs and simultaneously attenuates the disturbances. Finally, the analysis of the resulting synchronous trajectory shows that the disturbance model included in the extended agents may dominate the overall system behaviour. The results are illustrated by numerical examples.

摘要

本文研究了受干扰的多智能体系统的同步。第一个结果表明，必须使用动态局部控制器将扰动模型引入每个扩展代理。该结果将内部模型原理从多变量控制推广到具有任意通信结构的多智能体系统。提供了满足内部模型原则的测试。第二个结果是被扰动代理渐近同步的充要条件。第三，研究了代理的同步性，并表明本地控制器中的附加动态可能是使扩展代理可同步的必要条件。第四，提出了一种设计方法来找到一个网络控制器，该控制器同步代理输出并同时衰减干扰。最后，对生成的同步轨迹的分析表明，扩展代理中包含的扰动模型可能会主导整个系统的行为。结果通过数值例子说明。