具有多个通信时延的多智能体系统分布式H_∞一致性控制  

Distributed H∞ consensus control for multiple-agent systems with communication delays

作　　者：刘学良[1] 胥布工[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广州510640

出　　处：《控制与决策》2012年第4期494-500,共7页Control and Decision

基　　金：国家自然科学基金-广东省联合基金重点项目(U0735003);国家自然科学基金项目(61174070);海外及港澳合作项目(60828006);国家教育部回国人员科研启动基金项目

摘　　要：考虑具有多个时变时延和外部噪声干扰的一阶多智能体系统H∞一致性问题,分别讨论了固定和变化网络拓扑情形.首先,对原来的系统作一个模型变换使之转化为一个降阶的子系统;其次,根据得到的降阶系统,通过构建适当的Lyapunov函数,得到了所有智能体状态达到一致并满足期望的H∞性能的充分条件.仿真结果验证了所提出的一致性协议的正确性和有效性.This paper considers H∞ consensus problems for first-order multi-agent systems with multiple time-varying communication delays and external disturbances. Both networks under fixed and switching topologies are taken into consideration. Firstly, a model transformation is performed, and the original system is turned into a reduced order system. Then, based on the reduced order system, by constructing a proper Laypunov function, sufficient conditions are derived for all agents to reach an agreement with the desired H∞ performance. Finally, the simulation results show the correctness and effectiveness of the designed protocols.

关 键 词：多智能体系统 一致性 H∞控制 多时延 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]