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带有领航者的多智能体系统的一致性控制 被引量：2

Consensus Control of Multi-Agent Systems with a Leader
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摘要 对基于动态拓扑有领航者的多移动智能体二阶系统的一致性进行研究。假设各智能体系统存在时变输入时延,分别针对有向网络拓扑为固定和动态两种情形,设计基于邻接信息的分散控制策略。基于李亚普诺夫稳定性理论及线性矩阵不等式方法,得到使各个智能体与领航者达到一致的充分条件。最后通过仿真验证设计方案的有效性。 This paper is concerned with the leader-following consensus problem of second-order multi-agent systems. Under the assumption that the topology graph is static and dynamic, a decentralized control law based on the neighbor information is proposed for every agent with time-varying input delays. The consensus analysis is performed based on a proposed Lyapunov-Krasovskii functional, and sufficient conditions are obtained in terms of Linear Matrix Inequalities （LMI）. Finally, two simulations are pres- ented to illustrate the theoretical results derived in the paper.
作者 顾建忠 姚建玲 杨洪勇
机构地区 鲁东大学数学与统计科学学院 上海交通大学数学系 鲁东大学信息科学与工程学院
出处 《复杂系统与复杂性科学》 EI CSCD 北大核心 2013年第3期67-74,共8页 Complex Systems and Complexity Science
基金 国家自然科学基金(61273152 61170161 61174085) 山东省自然科学基金(ZR2011FM017)
关键词 多智能体系统 领航者 一致性 时变时延 动态拓扑 multi-agent systems leader consensus analysis time-varying delay dynamic topology
分类号 TP13 [自动化与计算机技术—控制理论与控制工程]
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参考文献10

  • 1Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Trans Automa Control, 2003, 48(6) : 988 - 1001.
  • 2Olfati-Saber R, Murray R M. Consensus protocols for networks of dynamic agentsr[C]//American Control Conference. Denver,CO,USA, 2003:951 - 956.
  • 3Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Trans Automat Control, 2004, 49(9): 1520- 1533.
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同被引文献18

  • 1Jadbabaie A, Lin J, Morse A S.Coordination of group of mobile autonomous agents using nearest neighbor rules[J]. IEEE Trans on Automatic Control, 2003,48 (6) : 988-1001.
  • 2Olfati-Saber R, Murry R.Consensus problems in networks of agents with switching topology and time delays[J]. IEEE Trans on Automatic Control,2004,49(9) : 1520-1533.
  • 3Lin Z, Broucke M, Francis B.Local control Strategies for groups of mobile autonomous agents[J].IEEE Trans on Automatic Control, 2004,49 (4) : 622-629.
  • 4Ren W, Beard R.Consensus seeking in multiagent systems under dynamically changing interaction topologies[J].IEEE Trans on Automatic Control, 2005,50 ( 5 ) : 655-661.
  • 5Li Z, Duan Z, Chen (3, et al.Consensus of multiagent sys- tems and synchronization of complex networks: A uni- fied viewpoint[J].IEEE Trans on Circuits and Systems I: Regular Papers, 2010,57 ( 1 ) : 213-224.
  • 6Lin P,Jia Y.Consensus of second-order discrete-time multi- agent systems with nonuniform time-delays and dynamically changing topologies[J].Automatic, 2009,45 (9) : 2154-2158.
  • 7Hong Y, Gao L, Cheng D, et al.Lyapunov-based approach to multi-agent systems with switching jointly connected interconnection[J].IEEE Trans on Automatic Control,2007, 52(5) :943-949.
  • 8Cheng D, Wang J, Hu X.An extension of LaSalle's invari- ance principle and its application to multi-agent consen- sus[J].IEEE Trans on Automatic Control, 2008, 53 (7) : 1765-1770.
  • 9Ni W, Cheng D.Leader-following consensus of multi-agent systems under fixed and switching topologies[J].Sys- tems and Control Letters, 2010,59(3/4) : 209-217.
  • 10Lin P, Qin K, Zhao H, et al.A new" approach to average consensus problems with multiple time-delays and jointly connected topologies[J].Journal of the Franklin Insitute, 2012,349( 1 ) : 293-304.

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复杂系统与复杂性科学
2013年 第3期

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