基于加权控制协议一阶时滞多智能体系统分组一致分析  

Group Consensus of First-order Time-delay Multi-agent System Based on Weighted Control Protocol

作　　者：蒲兴成 王海英 万金凤 彭春莲 张政 姜岩 PU Xingcheng;WANG Haiying;WAN Jinfeng;PENG Chunlian;ZHANG Zheng;JIANG Yan(School of Science,Chongqing University of Posts and Telecommunications,Chongqing 400065,China;Student Office,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)

机构地区：[1]重庆邮电大学理学院,重庆400065 [2]重庆邮电大学学生处,重庆400065

出　　处：《徐州工程学院学报（自然科学版）》2020年第4期30-37,共8页Journal of Xuzhou Institute of Technology(Natural Sciences Edition)

基　　金：国家自然科学基金项目(61876200);重庆市科委项目(cstc2018jcyjAX0112);重庆市教委科研项目(22010/E010J2014032);重庆邮电大学大学生科研项目(A2019-25);重庆邮电大学教改项目(XJG1635)。

摘　　要：针对一阶时滞多智能体网络系统,提出一种新的加权分组一致控制协议.该加权控制协议能通过动态改变权重参数来有效实现一阶时滞多智能体网络系统分组一致.利用圆盘定理、广义Nyquist准则和频域分析方法分别得到拓扑结构为连通二部图和存在全局可达节点的一阶多智能体网络系统加权分组一致充分条件.数值实验验证了分组一致协议的正确性.A new weighted group consensus control protocol is proposed to the first-order time-delay multi-agent network system.The weighted control protocol can effectively realize the grouping consistency of the first-order time-delay multi-agent network system by dynamically changing the weight parameters.By using the disk theorem,the generalized Nyquist criterion and the frequency domain analysis method,sufficient conditions are obtained for the uniform weighted grouping of the first-order multi-agent network system with connected bipartite graphs and globally reachable nodes.Numerical experiments verify the correctness of the protocol.

关 键 词：一阶时滞多智能体系统 连通二部图 加权控制协议 分组一致 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]