多智能体系统在有界输入下的速度一致性控制  

Consensus Problem for Multi-agent Systems with Bounded Constraints on Control Input

作　　者：李晓梅[1] 林振衡[1] LI Xiaomei;LIN Zhenheng(School of Mechanical & Elecrtical Engineering, Putian University, Putian Fujian 351100, China)

机构地区：[1]莆田学院机电工程学院,福建莆田351100

出　　处：《莆田学院学报》2017年第2期24-27,共4页Journal of putian University

基　　金：福建省激光精密加工工程技术研究中心开放课题(20150502);现代精密测量与激光无损检测福建省高校重点实验室开放课题(s20150502)

摘　　要：研究了多智能体系统的速度一致控制问题。在对输入有界约束的条件下提出了一个新的控制协议,利用李雅普诺夫理论,分析了多智能体系统的稳定性,并给出了在有界控制协议下系统实现速度一致性的条件。最后,通过仿真表明所提控制协议的有效性。This paper investigated consensus problem of the velocity of multi-agent system.As for the practicalapplication,a new control protocol with bounded constraint was proposed.Based on the Lyapunov theory,theasymptotically stability of the multi-agent systems as well as the consensus on velocity were presented withmathematical rigor.Finally,the simulation results verified the effectiveness of the obtained control protocol.

关 键 词：多智能体系统 有界输入约束 一致性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]