异质多自主体系统的一致性  

Consensus of heterogeneous multi-agent systems

作　　者：梁有明[1,2] 刘成林[1,2] 刘飞[1,2] 

机构地区：[1]轻工过程先进控制教育部重点实验室,江苏无锡214122 [2]江南大学自动化研究所,江苏无锡214122

出　　处：《系统工程学报》2012年第5期583-592,共10页Journal of Systems Engineering

基　　金：国家自然科学基金资助项目(61104092);教育部重点科研基金资助项目(20090093120006)

摘　　要：研究由一阶自主体和二阶自主体构成的异质多自主体系统的一致性问题.考察连接拓扑为固定有向图的异质多自主体系统在无时延静态一致性算法下的收敛问题,利用图论和矩阵分析方法得到了系统渐近收敛一致的充要条件;在假设连接拓扑在有向连通图之间动态切换条件下,分别研究领导-跟随连接拓扑和无领导连接拓扑下异质多自主体系统的静态一致性问题,并采用Lyapunov定理和线性矩阵不等式得到了系统在具有时变输入时延的一致性算法作用下渐近收敛一致的时延依赖条件.最后,仿真结果验证了结论的正确性.Consistence problems are investigated order agents and second-order agents. Consistent for heterogeneous multi-agent systems composed of first- convergence for the heterogeneous multi-agent systems is studied with stationary consistence algorithm without time delay, and the sufficient and necessary consistence condition under fixed directed topology is derived by using graph theory and matrix analysis method. With interconnection topology switched between connected digraphs, stationary consistence problem is analyzed for the heterogeneous multi-agent systems under leader-following network and leaderless network, respectively, and sufficient delay-dependent consistence conditions are obtained for the multiple agents under stationary consistence algorithms with time-varying input delay by using Lyapunov stability theorem and linear matrix inequality. Finally, simulations are presented to demonstrate the correctness of the results.

关 键 词：异质多自主体系统 一致性 输入时延 切换拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]