线性多智能体系统的分布式鲁棒趋同  

Distributed robust consensus of linear multi-agent systems

作　　者：李振兴[1] 季海波[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期66-69,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61273090)

摘　　要：研究了通信通道增益受到外界幅值有限干扰的多智能体系统趋同问题.设计了一个分布式线性状态反馈趋同算法以确保多智能体系统的趋同.通过定义新的状态,将多智能体系统的趋同转化为验证一个降阶系统的稳定性.推出确保多智能体系统趋同的线性矩阵不等式条件,并且通过解两个线性矩阵不等式设计反馈增益矩阵.最后,仿真证明了趋同算法的可行性.The consensus problem of multi-agent systems with communication channel gain subject to external limited-amplitude disturbances was considered.A distributed linear state feedback consensus protocol to ensure the consensusability of multi-agent systems was designed.By defining new states, the consensus of multi-agent systems was consensused into examining the stability of a reduced-order system.Some conditions in terms of linear matrix inequalities(LMIs)were derived to guarantee consensus of multi-agent system,and the feedback gain matrix was designed by solving two LMIs.Finally,a simulation was given to show the effectiveness of our consensus protocol.

关 键 词：趋同 多智能体 幅值有界扰动 二次稳定 鲁棒控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]