具有通信时延的跟随者-多领导者聚集控制  

Multileader set aggregation control of multi-agent systems with communication delays

作　　者：刘学良[1] 胥布工[1] 谢立华[1,2] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640 [2]南洋理工大学电子与电气工程学院,新加坡 639798

出　　处：《控制理论与应用》2012年第5期649-654,共6页Control Theory & Applications

基　　金：国家自然科学基金广东省联合基金重点资助项目(U0735003),国家自然科学基金资助项目(61174070);海外及港澳合作资助项目(60828006);教育部博士点基金资助项目(20110172110033);中央高校基本科研业务费专项资金资助项目(2012ZM0101)

摘　　要：本文考虑了一个连续时间多智能体系统跟随者-多领导者聚集控制问题.假设智能体之间的通信频道是有向的且存在时延.基于邻居原理,提出了一个新的跟踪协议.应用线性矩阵不等式技术和Lyapunov方法得到所有的跟随者都能够群集于由多个领导者组成的凸多边形区域的充分条件.此外,并将文中结果推广到通信频道含有时延和噪声情形.最后,数值仿真验证了文中理论结果的有效性和正确性.This paper considers a set aggregation control problem for continuous-time multi-agent systems guided by multiple leaders. It is assumed that each follower-agent can measure the relative states of its neighbors in a time-delay and directed communication channels. A neighbor-based control rule is designed to realize local control strategies for these continuous-time agents. By Lyapunov method and the linear matrix inequality technique, we derive sufficient conditions for all follower-agents to aggregate in a polytope region formed by the leaders. In addition, this result is extended to a more general case with time-delay and noise perturbation. Numerical examples are given to validate the correctness and effectiveness of the theoretical results.

关 键 词：多智能体系统 领导者-跟随者 协议 凸多边形区域 均方指数稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]