具有领导者的非线性分数阶多智能体系统的一致性分析

Leader-FollowingConsensus of Fractional-Order Multi-Agent Systems With Nonlinear Models

研究了利用非线性分数阶模型描述的具有领导者的多智能体系统的一致性问题.基于智能体之间的通讯拓扑图,设计了系统的控制协议和相应的控制增益矩阵.利用广义Gronwall不等式和分数阶微分方程的稳定性理论,得到了多智能体系统达到一致的充分条件.最后,数值仿真结果显示了理论结果的有效性.

The leader-following consensus of multi-agent systems with fractional-order nonlin- ear models was investigated. Under the assumption that the system communication topology contains a leader-rooted spanning tree, the control gain matrix was designed and the controllers were presented based on the theory of algebraic Riccati equations. Then, a sufficient condition for the leader-following consensus of multi-agent systems was given by means of the Laplace transform and inverse transform, the Mittag-Leffler function, the generalized Gronwall inequali- ty and the stability theory of fractional differential equations. Finally, the numerical simulation results show the effectiveness of the proposed theoretical condition.