带有多个时变时滞的一阶多智能体系统的H_∞包围控制  

H_∞ containment control for first-order multi-agent systems with multiple time-varying delays

作　　者：廖福成[1] 孔敏[1] 刘会央[1] 

机构地区：[1]北京科技大学数理学院,北京100083

出　　处：《控制与决策》2017年第4期584-592,共9页Control and Decision

基　　金：国家自然科学基金项目(61174209);中央高校基本科研业务费专项资金项目(FRF-TP-15-041A1)

摘　　要：研究带有多个时变时滞的一阶多智能体系统在有向网络拓扑下的H_∞包围控制问题.首先,通过引入收敛性向量函数,将所讨论问题转化为一般时滞系统的H_∞控制问题.然后,通过构造适当的Lyapunov-Krasovskii泛函,利用Lyapunov稳定性理论得到多智能体系统实现包围控制的充分条件,同时求得时变通信时滞的最大容许值.另外,在有外部干扰的情况下,得到了多智能体系统具有H_∞包围控制性能常数的充分条件.最后,通过数值仿真实验验证了所得结果的有效性.The H∞ containment control problems for first-order multi-agent systems with multiple time-varying delays under directed network topology are investigated.Firstly,by introducing a convergence vector function,the H∞containment control problems of multi-agent systems are transformed into the H∞ control problems of normal time-delay systems.Then,by using the Lyapunov stability theory,a suitable Lyapunov-Krasovskii functional is designed.Some sufficient conditions for H∞ containment control are established and the upper bound of the time-varying delays are obtained.Furthermore,the existence criterion of H∞ containment control performance constant is also gained when there is external disturbance in the multi-agent systems.Finally,simulations results show the effectiveness of the conclusions.

关 键 词：多智能体系统 时变时滞 包围控制 H∞控制 有向网络拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]