摘要
考虑了多智能体系统在自适应协议控制下的追踪一致性问题,假定智能体之间的信息流拓扑图含有一棵有向生成树,并且跟随者(followers)之间的信息流是无向的.提出自适应控制协议,并运用李雅普诺夫函数方法讨论误差系统的渐近稳定性,即所有的跟随者能够渐近追踪到(领航者)leader的轨迹.
In this paper , the tracking consensus problem of multi -agent systems with adap-tive protocols was considered .Assumed that the information flow between agents of the topol-ogy contains a directed spanning tree , and the information flow between the followers was un-directed.In Addition, proposed an adaptive control protocol , and then discuss the asymptot-ic stability of the error system by using the Lyapunov function method .All followers could as-ymptotically track to the leader ’ s trajectory .
出处
《哈尔滨商业大学学报（自然科学版）》
CAS
2015年第5期634-636,共3页
Journal of Harbin University of Commerce：Natural Sciences Edition
关键词
自适应协议
有向生成树
李雅普诺夫方法
渐近稳定性
adaptive protocols
directed spanning tree
Lyapunov function method
asymptotic stability
