摘要
该文研究了有领导者的固定和切换拓扑结构下带有随机噪声和通讯时滞的多自主体系统均方趋同控制。为了降低噪声强度,使跟随者及时更新信息,与变速度的领导者保持一致,设计了一个基于观测器的变增益的分布式控制器。在该控制器作用下,利用Lyapunov函数、随机分析方法和图论知识,得到多自主体系统均方趋同的充分条件和允许的最大时滞上界。仿真示例说明了该文方法的有效性。
This paper is concerned with the mean square consensus control problem of the multi-agent systems with measurement stochastic noises and time-varying delays under a leader-following fixed and switching topology.In order to decrease the noise intensity and make the followers update the information to keep up with the velocity-varying leader,the distributed control protocol based on observers containing time-varying consensus gains is proposed.Under the designed control protocol and by using the Lyapunov function approach,the stochastic analysis theory and the graply theory,the sufficient conditions of the mean square consensus of the multi-agent systems are derived.The tolerated upper boundaries of time delays are obtained.The simulation example shows the effectiveness of the proposed method.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2012年第2期338-341,共4页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(61074043)
关键词
均方趋同控制
多自主体系统
随机系统
时滞
mean square consensus control
multi-agent systems
stochastic systems
time delays
