通信感知的分布式k跳观测离散时间线性多智能体系统安全控制器综合

中文摘要 AI 辅助

本文研究了在有限信息交换下，针对离散时间线性多智能体系统的通信感知安全控制问题。主要挑战在于远程状态估计与安全控制器设计之间的耦合，因为估计误差通过控制器增益影响状态演化，而控制器设计必须考虑由此产生的观测器引起的状态扰动以保证安全性。为解决这一挑战，开发了一种分布式k跳观测器来重构不可用的远程状态，并推导了统一的观测器误差界。在局部εi-鲁棒安全不变（RSI）集的构建以及成对相对状态安全约束的执行中，均考虑了观测器引起的状态扰动对闭环安全性的影响。所得安全条件确保所有智能体保持在各自的局部RSI集内，同时满足所有成对相对状态安全约束。开发了一种基于线性矩阵不等式（LMI）的优化方法，以联合综合分布式观测器、局部控制器和RSI集。案例研究验证了所提出方法的有效性。

英文摘要

This paper studies communication-aware safe control for discrete-time linear multi-agent systems under limited information exchange. The main challenge lies in the coupling between remote-state estimation and safe controller design, since estimation errors affect the state evolution through the controller gains, while the controller design must account for the resulting observer-induced state perturbations to guarantee safety. To address this challenge, a distributed k-hop observer is developed to reconstruct unavailable remote states, and a uniform observer-error bound is derived. The effect of the observer-induced state perturbation on closed-loop safety is accounted for in both the construction of local εi-robust safe invariant (RSI) sets and the enforcement of pairwise relative-state safety constraints. The resulting safety conditions ensure that all agents remain within their local RSI sets while all pairwise relative-state safety constraints are satisfied. A linear matrix inequality (LMI)-based optimization method is developed to jointly synthesize the distributed observers, local controllers, and RSI sets. A case study illustrates the effectiveness of the proposed method.

发表机构

• The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））

机构由 AI 辅助整理，请以论文原文为准。