离散多智能体系统加权一致性  

Weighted Consensus of Discrete-time Multi-agent System

作　　者：何英高[1] 王翔宇[2] HE Ying-gao;WANG Xiang-yu(Wuxi Institute of Arts and Technology,Wuxi 214206,China;School of Automation,Southeast University,Nanjing 210096,China)

机构地区：[1]无锡工艺职业技术学院,江苏无锡214206 [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》2018年第19期144-150,共7页Mathematics in Practice and Theory

基　　金：国家自然科学基金(61503078)

摘　　要：基于一种由不同权重当前状态和时延状态构成的混合型控制器，研究了时延对离散多智能体系统的一致性和动态性能的影响．通过采用频域控制理论中广义Nyquist准则和Gerschgorin圆盘定理，给出了离散多智能体系统实现一致性的充分条件和改进系统最大时延上界方法，最后通过数值仿真验证了一致性结论的正确性，并分析了时延对离散多智能体系统动态性能．This paper studies consensus and dynamic performance of discrete-time multi- agent system through merging current state with delay state in the control algorithm, 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 ad- dressed to enlarged upper bound on the maximum time-delay. Finally , correctness of the proposed result is verified and dynamic performance is analyzed through numerical simulation.

关 键 词：加权一致性 动态性能 时延 Nyquist准则 圆盘定理 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]