具有引导者的多智能体网络系统的脉冲一致性  

IMPULSIVE CONSENSUS OF NETWORKED MULTI-AGENT SYSTEM WITH A LEADER

作　　者：颜青[1] 马米花[2] 吴海亮[3] 

机构地区：[1]铜仁学院数学与计算机科学系,铜仁554300 [2]上海大学上海市应用数学和力学研究所,上海200072 [3]济南市市政工程设计研究院有限责任公司,济南250101

出　　处：《动力学与控制学报》2012年第2期152-156,共5页Journal of Dynamics and Control

基　　金：贵州省科学技术基金项目(20122316);铜仁学院科研启动基金项目(TS1112);福建省教育厅科技项目(JA11172)~~

摘　　要：多智能体网络系统的协调与控制在工程领域中有着重要的作用.本文给出了具有引导者的一阶多智能体网络系统的动力学模型.模型中,假设网络系统中仅有一个智能体在一系列离散时刻基于自身及引导者的信息,以脉冲跳跃方式改变自身的状态.应用矩阵理论、数值分析理论、脉冲微分方程等理论给出了网络系统达到一致的一个充分条件.计算机仿真实验验证了算法的正确性和有效性,展示了系统的一致收敛速度与脉冲间隔、脉冲强度之间的关系.The coordination and cooperative control of networked multi agent systems has many significant appli- cations in the engineering world. This paper investigated the impulsive consensus problem of muhi-agent system with an active leader. It is assumed that only one agent of the network updates its state in the impulse manner based on its and the leader＇ s position at a series of discrete moments. By using tools from matrix theory, numeri- cal analysis and the theory of impulsive differential equation, a simple yet generic criterion was then derived for consensus of the multi agent system. Consequently, computer numerical simulations verify and also visualize the theoretical results, which shows the impacts of the impulsive duration and impulsive strength on the convergence rate.

关 键 词：多智能体网络系统 一致性 脉冲牵引控制 协调控制 

分 类 号：O157.5[理学—数学]