一类异构多智能体系非线性协议下的一致性分析  

Consensus analysis for a class of heterogeneous multi-Agent systems via nonlinear protocols

作　　者：孙一杰[1,2] 张国良[1] 张胜修[1] 

机构地区：[1]第二炮兵工程大学三系 [2]96211部队

出　　处：《计算机应用》2015年第1期136-139,共4页journal of Computer Applications

基　　金：陕西省自然科学基金资助项目(2012K06-45)

摘　　要：针对一阶、二阶混合异构多智能体系统一致性问题研究中,存在状态不可测和系统最终仅可以获得静态一致性的问题,提出了一种具有参考速度的非线性一致性协议。在此基础上,首先,将一致性分析转化为稳定性证明;然后,构造李亚普诺夫函数;最后,基于李亚普诺夫稳定性理论和拉塞尔不变集原理,分析得出了该异构系统获得一致性的充分条件。仿真结果表明,满足文中的条件,系统在所提出的协议下获得了一致性。To solve the problem that the state of Agents is immeasurable and only the stationary consensus can be achieved in heterogeneous multi-Agent systems composed of first-order and second-order Agents, a novel nonlinear consensus protocol with reference velocity was proposed. Firstly, consensus analysis was transformed to stability demonstration. Then,the Lyapunov function was constructed. Finally, the sufficient conditions for achieving consensus were obtained by using Lyapunov stability theory and La Salle＇s invariance principle. The simulation results show that if the conditions can be satisfied,the consensus can be achieved.

关 键 词：异构多智能体系统 非线性一致性协议 参考速度 图论 李亚普诺夫稳定性理论 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]