摘要
研究了不确定二阶离散多智能体有向网络的鲁棒最优一致问题.首先,基于每个智能体可获得的局部信息设计了一个控制协议,并且智能体间相互影响的权重系数具有模型不确定性.其次,利用智能体的能量消耗思想,给出了系统的一个保代价性能指标.然后,利用Lyapunov函数的方法,分析了多智能体网络系统在满足保代价性能指标下的最优一致问题,得到了系统达到渐近最优一致的条件.最后,仿真结果验证了所获得的结果的正确性.
This paper is devoted to robust optimal consensus problem of second- order discrete multi-agent systems with directed topologies and uncertainty. Firstly, a protocol is proposed based on the information received from other agents, and weighted coefficients between agents have model uncertainty. Secondly, a cost performance index is proposed for the energy consumption of all agents. Thirdly, using the method of Lyapunov function, the analysis is provided for the robust optimal consensus problem of multi-agent network under the cost performance index, and sufficient conditions are derived for the consensus of systems. Finally, simulation results are provided to demonstrate the effectiveness of presented results.
出处
《系统科学与数学》
CSCD
北大核心
2014年第7期876-887,共12页
Journal of Systems Science and Mathematical Sciences
基金
国家自然科学基金项目(61304155)
北京市委组织部优秀人才培养D类项目(2012D005003000005)
北京工商大学青年教师科研启动基金项目(QNJJ2011-34)
北京市属高校人才强教计划项目(201106206)资助课题
关键词
最优一致
多智能体
离散
不确定性
保代价性能
Optimal consensus, multi-agent, discrete, uncertainty, cost performance.
