复杂多个体系统领导者—跟随一致性研究  

Leader-Following Consensus of Multi-Agent Systems

作　　者：宋晓欣[1] 李德权[1,2] 

机构地区：[1]安徽理工大学理学院,安徽淮南232001 [2]上海交通大学自动化系,上海200240

出　　处：《广西师范大学学报（自然科学版）》2010年第4期9-14,共6页Journal of Guangxi Normal University:Natural Science Edition

基　　金：国家863高技术研究发展计划基金资助项目(2006AA01Z104);国家自然科学基金资助项目(30570431;60873144);安徽省自然科学基金资助项目(090412251);安徽省教育厅自然科学重点研究资助项目(KJ2007A074)

摘　　要：讨论了强连通网络拓扑情况下的领导者—跟随一致性问题,在跟随者的一致性协议中引入了聚合项,运用李亚普诺夫稳定性理论分析了闭环系统的稳定性,研究发现聚合项的引入对多个体系统达到一致具有重要影响,即增大聚合增益能使跟随者快速跟踪上领导者,从而提高系统的跟踪性能。最后给出仿真例子对理论分析进行了验证。In this paper,the leader-following consensus problem for multi-agent systems with directed networks is studied.The leader-following consensus problem for multi-agent systems is also discussed when the corresponding graph of the network is strongly connected.The designed coordination laws for the followes utilize the agents velocity information,then the stability of the closed-loop system is further analized based on the classical Lyapunov theory.The effect of the aggregation gains on the tracking performance of the closed-loop system is theoretically proved.Finally,simulation results validate the theoretical analysis.

关 键 词：多个体系统 一致性 强连通 

分 类 号：TP271.6[自动化与计算机技术—检测技术与自动化装置]