Improved Consensus Speed for Discrete-Time Multi-agent Systems  

出　　处：《Journal of Donghua University(English Edition)》2013年第6期461-465,共5页东华大学学报（英文版）

基　　金：Natural Science Foundation of Shandong Province,China(No.ZR2010FZ001)

摘　　要：The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains. The clo6ed-loop multi.agent system converged to an expected type of consensus function, which was divided into four types： zero, non- zero constant vector, bounded trajectories, and ramp trajectories. An algorithm was further provided to construct the protocol gains, which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation. Finally, an example to illustrate the effectiveness of theoretical results was presented.The consensus problem of a linear discrete-time multiagent system with directed communication topologies was investigated.A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains.The closed-loop multi-agent system converged to an expected type of consensus function,which was divided into four types:zero,nonzero constant vector,bounded trajectories,and ramp trajectories.An algorithm was further provided to construct the protocol gains,which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation.Finally,an example to illustrate the effectiveness of theoretical results was presented.

关 键 词：discrete-time multi-agent consensus function consensus speed 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP273.2[自动化与计算机技术—控制科学与工程]