联合连通条件下的二阶多智能体系统有限时间一致性控制  

Finite-time consensus control of second-order multi-agent systems with jointly-connected topologies

作　　者：王芳[1] 陈鑫[1] 何勇[1] 吴敏[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《控制理论与应用》2014年第7期981-986,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61074058);国家杰出青年科学基金资助项目(61125301)

摘　　要：针对时变动态拓扑下无leader的二阶多智能体系统有限时间一致性控制问题,本文给出有限时间一致性协议,并对所提出的一致性协议进行理论分析.基于图论、Lyapunov稳定性理论、同次性理论和积分不等式方法,证明了当通信拓扑为联合连通时,有限时间一致性协议可保证系统在有限时间达到一致.最后给出仿真结果,验证了理论的有效性.For the second-order multi-agent systems with no leader and time-varying dynamic topologies,this paper discusses the finite-time consensus protocol,and gives the theoretical analysis on the proposed protocol.Based on the graph theory,Lyapunov stability theory,homogeneity with dilation and integral inequality,the finite-time consensus protocol guarantees that the systems reach the finite-time consensus with the jointly-connected topologies.Finally,some simulation results are given to illustrate the effectiveness of our theoretical results.

关 键 词：多智能体系统 无领导者 有限时间一致性 时变动态拓扑 联合连通 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]