具有分布式无限通信时延的多智能体系统的领导者-跟随者一致性研究:M-矩阵方法  

Leader-Following Consensus of Multi-Agent Systems with Distributed Infinite Transmission Time Delays:An M-Matrix Approach

作　　者：邓娅 朱伟[3] DENG Ya;ZHU Wei(School of Computer Science and Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065;Chongqing College of Mobile Communication,Chongqing 401520;Key Laboratory of Intelligent Analysis and Decision on Complex Systems,Chongqing University of Posts and Telecommunications,Chongqing 400065)

机构地区：[1]重庆邮电大学计算机科学与技术学院,重庆400065 [2]重庆移通学院,重庆401520 [3]重庆邮电大学复杂系统智能分析与决策重庆市高校重点实验室,重庆400065

出　　处：《系统科学与数学》2022年第6期1467-1477,共11页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金项目(61673080);重庆市教育委员会科学技术研究项目(KJZD-K202000601);重庆市科技局英才计划项目(cstc2021ycjh-bgzxm0044)资助课题。

摘　　要：文章研究了一阶多智能体系统的领导者-跟随者一致性问题.在考虑跟随者之间具有无限通信时延的情形下,设计了相应的分布式控制协议.基于M-矩阵方法与不等式分析技巧,在假设智能体通信拓扑存在以领导者为根的生成树下,获得了多智能体系统达到领导者-跟随者一致性的充分条件.最后通过数值仿真验证了所获理论结果的有效性.This paper investigates leader-following consensus problem of multi-agent systems described by single integrator.A distributed control protocol with infinite transmission time delays between neighboring followers is designed.Under the assumptions that the communication topology among agents has a spanning tree with the leader as the root,a sufficient condition on leader-following consensus is obtained by using an M-matrix approach and inequality techniques.Finally,numerical simulations are given to illustrate the effectiveness of the theoretical results.

关 键 词：无限通信时延 领导者-跟随者一致性 M-矩阵 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]