多智能体离散时间一致性跟踪研究  

Discrete-time consensus tracking in multi-agent systems

作　　者：杨亚桥[1] 吴晓锋[2] 林茜[1] 

机构地区：[1]海军工程大学指挥自动化系,湖北武汉430033 [2]海军兵种指挥学院航空兵战术指挥系,广东广州510430

出　　处：《华中科技大学学报（自然科学版）》2011年第10期69-72,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(61074012;60674049)

摘　　要：对具有参考状态和时滞的离散时间一致性跟踪问题进行了研究.给出了离散时间下的一致性控制器,运用经典李雅普诺夫稳定性理论,证明了多智能体系统在具有参考状态和时滞情况下的稳定性,并给出了时滞相关的线性矩阵不等式(LMI)判据.最后以水下无人航行器协同作战为背景,仿真验证了所提出的一致性算法和判据的有效性.Discrete-time consensus with reference states and time-delay were studied.The controller under discrete time was given.The stability of the consensus controller was proved by using the classical Lyapunov stability theory.Based on the algorithm,some sufficient linear matrix inequalities（LMI） criteria for achieving consensus were rigorously derived.An application background of the multiple unmanned underwater vehicles（UUVs） was given and the effectiveness of the algorithm and criteria was illustrated by the numerical examples.

关 键 词：多智能体系统 群集 协同控制 图论 离散时间一致性 时滞 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]