多智能体系统的二阶一致性跟踪问题  

Second-order consensus with reference state for multi-agent system

作　　者：杨亚桥[1] 吴晓锋[2] 林茜[1] 

机构地区：[1]海军工程大学电子工程学院,武汉430033 [2]海军兵种指挥学院航空兵战术指挥系,广州510430

出　　处：《海军工程大学学报》2012年第2期11-15,共5页Journal of Naval University of Engineering

基　　金：国家自然科学基金资助项目(61074012;60674049)

摘　　要：为了解决通信时延下关于参考状态的二阶一致性问题,提出了一种一致性算法。该算法利用Lya-punov稳定性理论,首先给出多智能体系统在固定时延下达到一致性的充分的线性矩阵不等式(LMI)判据;再给出满足一定条件的多智能体系统在时变时延下达到一致性的判据;最后,以水下无人航行器(UUV)集结为应用背景进行算法验证。运算结果表明了所提出的一致性算法和判据的有效性。该算法适用于具有时延的有向通信网中多智能体系统关于参考状态的二阶一致性问题。A second-order consistence algorithm was proposed to solve the problem of consistence with reference state.Based on the Lyapunov theory,some LMI criteria were respectively obtained under time-fixed and time-varying time-delay conditions.With the multiple UUVs rendezvous as a background for verifying the algorithm,the result shows that the algorithm and criteria are effective.The algorithm is used to solve the problem of second-order consistence with reference state in the directed communication graph.

关 键 词：多智能体 协同控制 一致性跟踪 线性矩阵不等式 

分 类 号：N945[自然科学总论—系统科学]