不确定二阶多智能体系统的鲁棒最优一致

The Robust Optimal Consensus of Uncertain Second-order Multi-agent Systems

针对不确定二阶多智能体系统,研究了其鲁棒最优一致性问题.首先,基于每个智能体所获得的邻居信息,设计了一个使多智能体系统达到一致的控制协议.其次,研究了多智能体系统的最优一致性问题,给出了系统在满足一定性能指标下达到一致的条件.再次,基于该条件,利用Schur补引理和线性矩阵不等式技术,给出了不确定系统达到鲁棒最优一致的条件.最后,通过仿真验证了所得结果的可行性.

For the uncertain second-order multi-agent systems, the robust optimal consis- tent problem is considered. Firstly, a protocol is proposed based on the neighbor information receiving from each other agent, which can make multi-agent systems achieve consensus. Secondly, the optimal consistent problem is investigated for multi-agent systems and the consensus condition is given when the system satisfies some performance index. Then, based on this condition, the robust optimal consistent condition is given for the system with un- certainty by using the Schur lemma and technology of linear matrix inequality. Finally, simulation results are provided to demonstrate the effectiveness of presented results.