多智能体时滞网络的加权平均一致性  

Weighted average-consensus for networks of multi-agent with time-delays

作　　者：俞辉[1] 蹇继贵[1] 王永骥 

机构地区：[1]三峡大学非线性复杂系统研究所,湖北宜昌443002 [2]华中科学技术大学控制科学与工程系,武汉430074

出　　处：《控制与决策》2007年第5期558-561,565,共5页Control and Decision

基　　金：国家自然科学基金项目(60274020);国家自然科学基金国际合作项目(60340420431);湖北省教育厅科研项目(D200613002)

摘　　要：提出了线性和非线性分布式协调控制器,使多智能体系统取得加权平均一致性.对于线性控制器,考虑网络存在通信时间延迟的情形,给出了能容忍的最大固定时滞的一个紧凑上界.考虑网络结点控制输入的有界约束,给出了一类非线性分布式控制器的收敛性分析.结果说明,网络的连通性是系统取得一致性的关键.最后对时滞网络的情形给出了仿真示例.Linear and nonlinear distributed cooperative control controllers are proposed for multi-agent systems to achieve weighted average-consensus. For linear controller, the case of networks with communication time-delays is considerd and a tight upper bound on the maximum fixed time-delay that can be tolerated is given in the network. The case of bounded constraint of control inputs for nodes of the network is considered. Convergence analysis of a class of nonnear distributed controllers is given. It turns out that the connectivety of the network is the key in reaching consensus. Finally, simulation results are provided for agreement in networks with communication time-delays.

关 键 词：多智能体 时间延迟 协调控制 加权平均一致性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]