具有时延和无时延加权多智能体系统一致性  

Weighted Consensus of Multi-Agent System with Current State and Delay State

作　　者：何英高[1] 王翔宇[2] 

机构地区：[1]无锡工艺职业技术学院,江苏无锡214221 [2]东南大学自动化学院,江苏南京210096

出　　处：《数学的实践与认识》2016年第18期258-263,共6页Mathematics in Practice and Theory

基　　金：国家自然科学基金(61503078;61271333)

摘　　要：针对存在全局可达节点有向加权图的静态网络,研究了在控制算法中引入不同权重的当前状态和时延状态时多智能体系统一致性问题.通过采用频域控制理论中广义Nyquist准则和Gerschgorin圆盘定理,证明了系统渐近稳定收敛到一致性的充分条件,提出一种改进系统实现一致性的最大时延上界方法;最后通过数值仿真验证了结论的正确性.This paper studies consensus of continuous-time multi-agent system through adjusting the proportion of the current state and delay state in the control algorithm,supposing that its topology is fixed and a directed interconnection graph which owes a globally reachable node.A sufficient condition for the convergence to a consensus is proposed and proved based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem.A method is found to improve upper bound on the maximum time-delay.Correctness of the proposed result is verified through numerical simulation.

关 键 词：多智能体系统 一致性 Nyquist准则 圆盘定理 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]