含有状态时滞的时离散多智能体系统可控性研究

Controllability of Discrete-Time Multi-Agent Systems with Time-Delay in State

针对一类含有状态时滞的时离散多智能体系统,在固定拓扑条件下,研究了其可控性问题。在固定拓扑及领航者—跟随者结构下,即一个或多个智能体作为领航者,其余智能体作为跟随者,获得了系统可控的一些充分条件。在这些条件下,系统可以完成预期的编队控制。数字仿真结果验证了所得结论的有效性。

In this paper, the controllability issue is addressed for a class of discrete-time multi-agent sys- tems with time-delay in state. The controllability of the system is analyzed under fixed topology and lead- er-follower structure, where one or more agents take the leader role and others are followers. Sufficient conditions are derived for the controllability of delayed multi-agent systems, under which the formation control of the system is feasible. Finally, numerical simulations are given to illustrate how to control the system to achieve the desired configurations.