带有领航者的多智能体系统的一致性控制  

Consensus Control of Multi-Agent Systems with a Leader

作　　者：顾建忠[1] 姚建玲[2] 杨洪勇[3] 

机构地区：[1]鲁东大学数学与统计科学学院,山东烟台264025 [2]上海交通大学数学系,上海200240 [3]鲁东大学信息科学与工程学院,山东烟台264025

出　　处：《复杂系统与复杂性科学》2013年第3期67-74,共8页Complex Systems and Complexity Science

基　　金：国家自然科学基金(61273152;61170161;61174085);山东省自然科学基金(ZR2011FM017)

摘　　要：对基于动态拓扑有领航者的多移动智能体二阶系统的一致性进行研究。假设各智能体系统存在时变输入时延,分别针对有向网络拓扑为固定和动态两种情形,设计基于邻接信息的分散控制策略。基于李亚普诺夫稳定性理论及线性矩阵不等式方法,得到使各个智能体与领航者达到一致的充分条件。最后通过仿真验证设计方案的有效性。This paper is concerned with the leader-following consensus problem of second-order multi-agent systems. Under the assumption that the topology graph is static and dynamic, a decentralized control law based on the neighbor information is proposed for every agent with time-varying input delays. The consensus analysis is performed based on a proposed Lyapunov-Krasovskii functional, and sufficient conditions are obtained in terms of Linear Matrix Inequalities （LMI）. Finally, two simulations are pres- ented to illustrate the theoretical results derived in the paper.

关 键 词：多智能体系统 领航者 一致性 时变时延 动态拓扑 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]