有leader的二阶时滞多智能体系统一致性分析

Consensus analysis of second-order multi-agent systems with leader and time-delay

针对有向定拓扑网络结构下有leader的二阶时滞多智能体系统,采用频域分析方法进行研究,得到各个智能体与leader达到一致的充分必要条件,讨论在速度项系数固定时位置项系数与最大容许时滞的关系,并给出最大容许时滞的计算方法.最后,通过仿真验证所提协议的有效性和所得结论的正确性.

Second-order multi-agent systems with directed fixed-topological network structure, leader, and time-delay is investigated with frequency domain analysis method and a sufficient and necessary condition is obtained to realize the consensus of agents with leader. The relationship of position term coefficient to maximum allowable time-delay is discussed when velocity term coefficient is fixed. The computation method of maximum allowable time-delay is given, also. Finally a simulation example is provided to show the effectiveness of the protocol presented and the validity of the result obtained.