具有通信时延的多自主体系统时变参考输入的平均一致性跟踪  

Average Consensus Tracking of Time-varying Reference Inputs for Multi-agent Systems with Communication Delay

作　　者：张雨 刘成林 ZHANG Yu;LIU Chenglin(Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education),Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《信息与控制》2021年第5期616-622,630,共8页Information and Control

基　　金：国家自然科学基金资助项目(61973139,61473138);中央高校基本科研业务费专项资金资助项目(JUSRP22014)。

摘　　要：本文研究了具有时变参考输入的多自主体系统在通信时延约束下的动态平均一致性跟踪问题,提出了一种比例—积分一致性跟踪算法.在固定强连通平衡拓扑结构下,借助于矩阵分析分别得到多自主体系统在通信数据未量化和量化时渐近收敛到参考输入平均值的充分条件.最后,通过数值仿真证明了理论结果的正确性.We investigate the dynamic average-consensus tracking problem of multi-agent systems with time-varying reference inputs and communication delay,and propose a proportional-integral consensus tracking algorithm.Using a fixed,balanced,and strongly connected topology,and based on a matrix analysis,sufficient conditions are obtained for converging the multi-agent system to the average value of the time-varying reference inputs with and without quantized communication data,respectively.Numerical simulation results verify the accuracy of the theoretical results.

关 键 词：时变参考输入 多自主体系统 通信时延 平均一致性跟踪 量化 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]