领导-跟随混合阶异质多智能体系统的一致性  

Leader-follower consensus of mixed-order heterogeneous multi-agent systems

作　　者：高林庆 王超 哈登喆 耿华 侯帅[2] GAO Linqing;WANG Chao;HA Dengzhe;GENG Hua;HOU Shuai(School of Water Conservancy and Hydroelectric Power,Hebei University of Engineering,Handan 056038,China;School of Information and Electrical Engineering,Hebei University of Engineering,Handan 056038,China;School of Civil Engineering,Tianjin University,Tianjin 300350,China)

机构地区：[1]河北工程大学水利水电学院,河北邯郸056038 [2]河北工程大学信息与电气工程学院,河北邯郸056038 [3]天津大学建筑工程学院,天津300072

出　　处：《河北大学学报（自然科学版）》2024年第1期104-112,共9页Journal of Hebei University(Natural Science Edition)

基　　金：国家重点研发计划项目(2020YFB1709903);河北省自然科学基金资助项目(F2019402419,A2020402013);大学生创新创业训练计划项目国家级大创项目(202110056021)。

摘　　要：混合阶异质多智能体系统由静态领导者和一阶、二阶和三阶积分器型跟随者组成.首先,在无向和有向通讯网络条件下,利用设计线性滤波器的方法提出了一致性协议;其次,基于李雅普诺夫直接法、拉塞尔不变集原理和矩阵理论证明了协议的可行性;最后,通过2个仿真算例验证了所得结论的有效性.The mixed-order heterogeneous multi-agent systems are composed of a static leader and a first-order,second-order and third-order integrator follower.Firstly,under the condition of undirected and directed communication networks,the consistency protocols are proposed by using the method of designing linear filters.Secondly,the feasibility of the protocol is proved based on Lyapunov direct method,Russell invariant set principle and matrix theory.Finally,the validity of the conclusions is verified by two simulation examples.

关 键 词：多智能体系统 混合阶 无向网络 有向网络 线性滤波器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]