具有时滞状态导数反馈的一阶多智能体系统的收敛速度分析  

Convergence Speed Analysis of First Order Multi-agent Systems Based on Delayed-state-derivative Feedback

作　　者：晋守博[1] JIN Shoubo(School of Mathematics and Statistics,Suzhou University,Suzhou 234000,China)

机构地区：[1]宿州学院数学与统计学院,安徽宿州234000

出　　处：《安庆师范大学学报（自然科学版）》2020年第3期1-5,共5页Journal of Anqing Normal University(Natural Science Edition)

基　　金：安徽省高校自然科学研究重点项目(KJ2019A0666);宿州学院重点科研项目(2016yzd06,2017yzd17);宿州学院学科专业建设项目(2019XJZY02)。

摘　　要：对于一阶多智能体系统,提出一类具有加权项的时滞状态导数反馈一致性协议,研究在无向通讯拓扑下多智能体系统实现一致性的收敛速度。给出了多智能体系统在一致性协议下的闭环形式,并利用拉普拉斯矩阵将其转化成紧凑形式;利用矩阵理论,分析反馈强度对闭环形式极点的影响,证明当多智能体系统为超临界时滞多智能体系统时,引入适当的反馈强度可以提高多智能体系统实现一致性的收敛速度;数值仿真验证了结果的有效性。For first-order multi-agent systems,a class of delayed-state-derivative feedback consensus protocols with weighted terms is proposed,and the convergence rate of multi-agent systems is studied under undirected communication topology.The closed-loop form of multi-agent system under consistency protocol is given,and it is transformed into compact form by Laplacian matrix.Then,the influence of feedback intensity on the poles of closed-loop form is analyzed by using matrix theory.It is proved that when the multi-agent system is a multi-agent system with supercritical time-delay,introducing appropriate feedback intensity can improve the convergence speed of to achieve consistency the multi-agent system.Numerical simulation verifies the effectiveness of the results.

关 键 词：多智能体系统 通讯时滞 收敛速度 反馈强度 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]