具有随机时延的多智能体系统的一致性研究  

Research on Consensus of Multi-agent System with Random Time-delay

作　　者：高庆文[1] 樊春霞[1] 韦庆阳[1] 

机构地区：[1]南京邮电大学自动化学院,江苏南京210023

出　　处：《计算机技术与发展》2013年第10期52-55,共4页Computer Technology and Development

基　　金：江苏省高校自然科学基金(10KJB120001)

摘　　要：文中研究了具有随机时不变通信时延的多智能体系统的一致性问题。假设系统拓扑是固定有向的强连通图,考虑多智能体系统中存在随机通信时延的情况,即各智能体之间的通信时延是以一定概率存在的,采用具有动态参考状态的一致性控制算法,通过变量代换,将多智能体的一致性问题转化为误差系统的渐进稳定性问题,然后再应用Lyapunov稳定性理论与随机分析方法推导出误差系统在该算法作用下趋于稳定的充分条件,并以线性矩阵不等式(LMIs)表示,即原多智能体系统在此充分条件下各智能体的状态能够达到一致。应用一个实例验证了所提出结论的有效性。Study the consensus of multi-agent system with random constant time-delay in this paper. Assume that the system is fixed di-rected and connected graph,consider that there are random delays in the multi-agent system,which is the communication delay between each agent based on a certain probability,a consistence control algorithm with a dynamic reference state is adopted to solve the consensus problem of the multi-agent system,by taking the variable transformation,the consensus problem of the multi-agent system is converted into the asymptotical stability problem of an error system,some sufficient criteria for achieving the consensus via the suggested algorithm are derived with using Lyapunov stability analysis and stochastic analysis method and in the forms of linear matrix inequalities （ LMIs） , the states of the original multi-agent achieve consensus in the sufficient conditions. An example is used to show the validity of the results.

关 键 词：多智能体系统 一致性 随机时不变通信时延 动态参考状态 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]