具有不一致时延的随机多智能体网络H_∞编队控制  

Distributed H_∞ Formation Control of Multi-agent Systems with Nonuniform Time Delay in Stochastic Networks

作　　者：李本印[1] 韩娜妮[1] 

机构地区：[1]陇东学院电气工程学院,甘肃庆阳745000

出　　处：《延安大学学报（自然科学版）》2013年第3期13-16,19,共5页Journal of Yan'an University：Natural Science Edition

摘　　要：研究了存在外界干扰时离散随机多智能体系统的编队控制,其中随机多智能体网络的变换服从马尔科夫链。假设系统中存在不一致的常数时延,首先,设计了编队控制协议,使得跟随者跟踪虚拟领导的同时形成所要求的编队,且和其它智能体达到速度一致。然后,基于Lyanunov稳定性理论,以LMI的形式给出了误差系统稳定并满足H∞指标要求的充分条件,并指出,对于系统中所考虑的常数不一致时延无上限要求。最后,仿真结果证明了所设计协议的有效性。This paper investigates the distributed formation control of multi - agent systems when there exists extern disturbance, and the nonuniform time delay is considered, which is supposed to change with a Markov chain. The protocols to make the agents form the desired formation while keep velocities consensus with the virtual leader are designed. Based on Lyanunov stability theory, the sufficient conditions to ensure the error systems stability with the desired H~ performance are presented in the form of LMI. And it is also proved that there is no constraint on the up- per bound of communication delay. Finally, the simulation results illustrate the effectiveness of the designed proto- cols.

关 键 词：离散多智能体系统 H∞编队控制 随机网络 不一致时延 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]