有向图下考虑暂态响应的多智能体H_∞一致性控制

H_∞ consensus control of multi-agent systems synthesised with transient performance in direted networks

研究有向通信拓扑条件下线性多智能体满足一定暂态响应性能的H_∞一致性控制.相比于已有的无向通信拓扑条件下的结论,所得结论对通信拓扑结构要求大为降低,更具一般性.通过对有向图下Laplacian矩阵特定形式的分解,将系统一致性问题转化成低维系统的稳定性问题,进而根据Lyapunov稳定性分析给出满足暂态性能指标的充分条件.给出相应的控制器设计方法,并结合空间二维二阶运动模型进行仿真,仿真结果表明,所提出的控制器设计方法有效.

H_∞ consensus control synthesised with transient perfomance for linear muilt-agent systems in directed networks is investigated. Compared with the existing conclusions in undirected networks, the one presented in the article depends less on the structure of the communication topology which is more common. A matrix decomposition of Laplacian matrix is introduced, then the H_∞ consensus problem is converted into an H_∞ control problem of a lower dimension system via a proper linear variable transformation, which can be analyzed by using the Lyapunov method. A sufficient condition to achieve H_∞ consensus synthesised with transient perfomance is presented. Finally, the effectiveness of the theoretical results is illustrated via a numerical simulation on a two demensional second-order UAV model.