无速度输入多智能体系统的一致性  

Consensus of multi-agent systems without velocity input

作　　者：董汉 程善 张冬梅[1] DONG Han;CHENG Shan;ZHANG Dong-mei(College of Science, Zhejiang University of Technology, Hangzhou Zhejiang 310023, China)

机构地区：[1]浙江工业大学理学院

出　　处：《控制理论与应用》2019年第10期1599-1605,共7页Control Theory & Applications

基　　金：浙江省博士后科学基金项目(Z42103001)资助~~

摘　　要：本文研究了有无引导者的多智能体系统在非线性协议下的一致性问题.当智能体速度信息无法获知时,分别针对有无引导者的多智能体系统设计了包含辅助系统和智能体相对位移信息的非线性分布式协议.借助图论、Lyapunov稳定性理论、Barbalat引理等方法,推导出有无引导者的多智能体系统在连通无向通讯网络中实现一致的充分条件,其次,设计了一种新的能使引导–追随者多智能体系统在有向通讯网络中实现期望一致的协议.最后,数值仿真验证了结果的正确性.This paper investigates the consensus problem for multi-agent systems with and without a leader under the non-linear protocols. When the velocity information of agents are unavailable, the non-linear distributed protocols including auxiliary systems and relative position information of agents are designed for multi-agent systems with and without a leader respectively. By employing the methods of graph theory, Lyapunov stability theory, Barbalat lemma, the sufficient conditions for multi-agent systems with and without a leader to achieve consensus in undirected networks are developed. Secondly, a new protocol is derived to achieve the expected consensus with leader-following multi-agent systems in the directed communication network. Finally, the numerical simulation demonstrates the effectiveness of the theoretical results.

关 键 词：多智能体系统 一致性 非线性 分布式协议 通讯网络 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]