具有时滞状态导数反馈的高阶多智能体系统的一致性  

Consensus of High Order Multi-agent Systems Based on Delayed-State-Derivative Feedback

作　　者：晋守博[1] JIN Shou-bo(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：《通化师范学院学报》2020年第10期29-33,共5页Journal of Tonghua Normal University

基　　金：安徽省高校自然科学研究重点项目(KJ2019A0666,KJ2018A0452);宿州学院重点科研项目(2016yzd06);宿州学院学科建设项目(2019XJZY02).

摘　　要：在包含时滞的情况下,针对高阶多智能体系统,分析了系统的渐近稳态一致性,说明了高阶多智能体系统能够更全面地反映位置、速度和加速度的变化情况.首先给出了一种仅含有位置状态的控制协议,指出了该协议对没有装备速度和加速度传感器的智能体具有重要意义;然后通过近似计算,将该协议转化为具有时滞状态导数反馈的控制协议;继而,利用频域分析和代数矩阵理论,在具有时滞状态导数反馈的控制协议下,分析了高阶多智能体系统实现渐近稳态一致的充要条件,最后利用仿真实例,验证了相关结果.This paper studies the asymptotically steady-state consensus of high-order multi-agent system with communication delay.It is pointed out that the high-order multi-agent system can reflect the change of position,velocity and acceleration more comprehensively.Firstly,a control protocol with only position state is given,which is of great significance to agents without velocity and acceleration sensors.Then,the protocol is transformed into a control protocol with delayed-state-derivative feedback by the approximate calculation.Then,using frequency domain analysis and algebraic matrix theory,the necessary and suffi⁃cient conditions are analyzed for the asymptotically stable consensus of high-order multi-agent systems with delayed-state-derivative feedback.Finally,the validity of the results is verified by numerical simulation.

关 键 词：通讯时滞 一致性 高阶多智能体系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]