基于切换拓扑的网络化多智能体系统领导跟随H_∞一致性

Leader-Following H_∞ Consensus of Networked Multi-Agent Systems Based on Switching Topology

研究网络化多智能体系统在切换拓扑下的领导跟随H∞一致性问题.考虑有界网络诱导时延的影响,提出一个基于采样数据的一致性控制协议.基于此协议,领导跟随H∞一致性问题转化为带有区间时变时延的误差切换系统的H∞控制问题.基于时延上下界构造分段的Lyapunov-Krasovskii泛函,得到各个子系统的控制器设计判据,多智能体系统在所设计的控制器和切换规则的作用下实现领导跟随H∞一致.最后,通过一个仿真例子验证所提方法的有效性.

The leader-following H∞ consensus problem of networked multi-agent systems with switching topologyis studied. Considering the effects of the bounded networked-induced delays,we propose a consensus control protocolbased on sampled-data. With this protocol,the leader-following H∞ consensus problem is transformed into the H∞control problem of a error switched system with interval time- varying delay. Controller design criteria for eachsubsystem are obtained by constructing piecewise Lyapounov-Krasovskii functional,which makes use of the lowerand upper bounds of the interval time-vary delays. Multi-agent systems achieve leader-following H∞ consensus underthe proposed controller and switching law. Finally,a simulation example is shown to demonstrate the effectivenessof the proposed method.