具有通信时延和输入时延的1阶多自主体系统的一致性问题  

Consensus Problem of First-order Multi-agent Systems with Communication Delay and Input Delay

作　　者：梁有明[1,2] 刘成林[1,2] 刘飞[1,2] 

机构地区：[1]江南大学自动化研究所,江苏无锡214122 [2]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《信息与控制》2012年第1期14-21,共8页Information and Control

基　　金：中央高校基本科研业务费专项基金资助项目(JUSRP11020)

摘　　要：研究了同时具有时变通信时延和定常输入时延的1阶多自主体系统的一致性问题.假设多自主体系统的连接拓扑中各节点的输出度相等,采用变量代换将原多自主体系统的一致性问题转化为降阶系统的渐近稳定性问题.根据李亚普诺夫渐近稳定性定理以及线性矩阵不等式法,在通信时延导数信息已知和未知的情况下,分别得到了多自主体系统在静态和连通拓扑结构下渐近一致的充分条件,且该条件与通信时延和输入时延都相关.仿真结果验证了结论的有效性.Consensus problem is investigated for the first-order multi-agent system with time-varying communication delay and time invariant input delay. With the assumption that each node in the interconnection topology has the same out- degree, the consensus problem of the multi-agent system is converted into the asymptotical stability problem of a reduced- order system by adopting the variable transformation. Based on Lyapunov asymptotical stability theorem and linear matrix inequality （LMI） method, sufficient conditions, which are dependent on both the communication delay and input delay, are obtained for the multi-agent system with static and connected interconnection topology converging to a consensus when the derivative information of the communication delay is given and unknown respectively. Simulation results illustrate the effectiveness of the conclusion.

关 键 词：多自主体系统 一致性 通信时延 输入时延 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]