不同延迟下离散多智能体系统的一致性  

Consensus for the Discrete-time Multi-agent System with Diverse Delays

作　　者：朱旭[1] 闫建国[1] 屈耀红[1] 

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《电子与信息学报》2012年第6期1516-1520,共5页Journal of Electronics & Information Technology

基　　金：国家自然科学基金(60974146);陕西省自然科学基础研究计划(2011GQ8005);西北工业大学基础研究基金(NPU-FFR-JC20100216)资助课题

摘　　要：移动多智能体系统的一致性问题是复杂动力学系统中非常有现实意义的问题。针对有向通信拓扑网络下具有不同延迟的一阶和二阶离散系统,该文提出一种一致性的协议,并进一步得到该系统离散域的传递函数。接着利用广义Nyquist判据和盖尔圆方法,对系统进行频域分析,推导出了传递函数一致性收敛的充分条件,给出了通信延迟的具体约束范围。最后给出数值算例,仿真结果验证了结论的正确性。Consensus problems for mobile multi-agent systems are very practically significant in complicated kinetics systems.A consensus protocol for the first-order and the second-order discrete-time system with diverse delays in directed communication network topology is proposed.Based on the protocol,the discrete transfer function is obtained.Then generalized Nyquist criterion and Gershgorin disc method is applied to analysis the system in frequency domain.A sufficient condition is deduced for consistency convergence of the transfer function,and concrete constraint range of communication delays is given out.The simulation results show the correctness of the proposed ideas.

关 键 词：多智能体系统 一致性协议 离散系统 通信延迟 广义Nyquist判据 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]