含通信延时及输入延时的线性多智体的一致性(英文)  

Consensus of Linear Multi-Agent Systems with Communication and Input Delays

作　　者：ZENG Li HU Guang-Da 

机构地区：[1]Department of Automation,School of Automation and Electrical Engineering,University of Science and Technology Beijing

出　　处：《自动化学报》2013年第7期1133-1140,共8页Acta Automatica Sinica

摘　　要：In this paper,we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed,undirected network topology.By factorizing the characteristic equation of the multi-agent system into a set of reduced-order factors,the problem is transformed to the stability analysis of resulting factors with reduction in complexity.Furthermore,stable ranges of the control gain,such that the consensus of multi-agent systems could be reached when delays vanish,are analyzed.With control gain confined to stable ranges,and applying the advanced clustering with frequency sweeping method to investigate the stability of factors,the delay-independent and delay-dependent consensus are discussed.An illustrative example is offered to verify the analytical conclusions.In this paper,we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed,undirected network topology.By factoriz-ing the characteristic equation of the multi-agent system into a set of reduced-order factors,the problem is transformed to the stability analysis of resulting factors with reduction in complexity.Furthermore,stable ranges of the control gain,such that the consensus of multi-agent systems could be reached when delays vanish,are analyzed.With control gain confined to stable ranges,and applying the advanced clustering with frequency sweeping method to investigate the stability of factors,the delay-independent and delay-dependent consensus are discussed.An illustrative example is offered to verify the analytical conclusions.

关 键 词：多AGENT系统 输入时滞 线性 通信 稳定性分析 多代理系统 控制增益 稳定性因素 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]