摘要
复杂工作环境中,许多自然现象的个体动力学特性用整数阶方程不能描述,只能用非整数阶(分数阶)动力学来描述个体的运动行为.本文假设多自主体系统内部连接组成有向加权网络,个体的动态特性应用分数阶动力学方程描述,个体之间数据传输存在通信时延.应用分数阶系统的Laplace变换和频域理论,研究了离散时间的分数阶多自主体系统的渐近一致性.应用Hermit-Biehler定理,研究了具有样本时延的分数阶多自主体系统的运动一致性,得到保证系统稳定的时延的上界阈值.最后应用一个实例对结论进行了验证.
In the complex practical environments, many distributed multi-agent systems can not be described with the integer-order dynamics and can only be illustrated with the fractional-order dynamics. In this paper, consensus problems of discrete-time networked fractional-order multi-agent systems with sampling delay are investigated. Firstly, the collaborative control of discrete-time multi-agent systems with fractional-order operator is analyzed in a directed network ignoring sampling delay by using Laplace transform and frequency domain. Then, by applying Hermit-Biehler theorem, the consensus of fractional-order multi-agent systems with sampling delay is studied in a misdirected network. A number of consensus conditions for fractional-order systems with sampling delay are obtained. Numerical simulations are shown to illustrate the utility of the theoretical results.
出处
《自动化学报》
EI
CSCD
北大核心
2014年第9期2022-2028,共7页
Acta Automatica Sinica
基金
国家重点基础研究发展计划(973计划)(2012CB720003)
国家自然科学基金(91016004
61273152
61203041
61127007)
山东省自然科学基金(ZR2011FM017
ZR2013FL007)资助~~
关键词
多自主体系统
分数阶
离散时间
样本时延
一致性
Multi-agent systems, fractional-order, discrete time, sampling delay, consensus