具有不同输入时延的多智能体系统的一致性  

Consistence of multi-agent systems with diverse input delays

作　　者：梁有明[1] 刘成林[1] 刘飞[1] 

机构地区：[1]江南大学自动化研究所,无锡214122

出　　处：《东南大学学报（自然科学版）》2010年第S1期121-126,共6页Journal of Southeast University：Natural Science Edition

基　　金：江南大学预研基金资助项目(2009LYY20)

摘　　要：针对具有不同时变输入时延的一阶多智能体系统的一致性收敛问题,采用了具有动态参考状态的一致性控制算法.通过变量代换,将多智能体系统的一致性问题转化为误差系统的渐近稳定性问题.构造Lyapunov-Krasovskii泛函,分别得到了具有固定有向连通拓扑结构的多智能体系统在输入时延导数已知和未知情况下渐近收敛于动态参考状态的充分条件,该条件与输入时延相关,并以线性矩阵不等式(LMIs)表示,且最大允许输入时延可通过求解线性矩阵不等式得到.仿真结果验证了结论的有效性.A consistence control algorithm with a dynamic reference state is adopted to solve the consistence seeking problem of the multi-agent systems with diverse time-varying input delays. By taking the variable transformation,the consistence problem of the multi-agent systems is converted into the asymptotical stability problem of an error system. By constructing Lyapunov-Krasovskii functional,sufficient conditions,which are dependent on the input delays and in the forms of linear matrix inequalities ( LMIs) ,are obtained for the multi-agent systems based on the fixed and connected interconnection topology converging to the dynamic reference state asymptotically when the derivative information of the input delay is given and unknown respectively. Moreover,the feasible bound of the time-varying input delays can be calculated based on the feasible linear matrix inequalities. Numerical simulations illustrate the effectiveness of the results.

关 键 词：多智能体系统 一致性 输入时延 线性矩阵不等式 固定拓扑 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]