具有定常输入的二阶多智能体系统的平均一致性滤波  

Average-consensus filter of second-order multiagent systems with constant inputs

作　　者：郑敏 刘成林[1] 刘飞[1] ZHENG Min;LIU Chenglin;LIU Fei(Institute of Automation,Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学自动化研究所,江苏无锡214122

出　　处：《智能系统学报》2018年第3期399-406,共8页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(61473138;61104092);江苏省自然科学基金项目(BK20151130);江苏省六大人才高峰项目(2015-DZXX-011)

摘　　要：本文考察了具有定常输入的二阶多智能体系统平均一致性滤波问题,提出了一种比例-积分一致性滤波算法。在定常输入和固定对称连通拓扑的前提下,根据Routh判据和Nyquist判据分别得到二阶多智能体系统在无时延和相同通信时延约束下渐近收敛一致的收敛条件,且多智能体系统最终一致性状态为定常输入的平均值。最后,通过由5个智能体组成的多智能体系统在连通拓扑结构下的数值仿真,验证了理论结果的正确性。Average-consensus filtering of a second-order multiagent system with constant inputs was investigated and a proportional-integral consensus filtering algorithm was proposed.Based on constant input,fixed and symmetrical connection topology,and on the Routh and Nyquist Criteria,the asymptotically consistent convergence conditions of second-order multiagent systems without time delays and with identical communication delays were obtained.In addition,the final consensus state of multiagent systems was the average value of the constant inputs.Finally,a numerical simulation of a multiagent system comprising five agents in the connection topology was used to verify the accuracy of the theoretical results.

关 键 词：平均一致性滤波 比例-积分算法 定常输入 通信时延 二阶多智能体系统 无时延 对称连通拓扑 频域分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]