基于噪声的非线性多智能体系统的均方一致性

MEAN SQUARE AVERAGE-CONSENSUS FOR NONLINEAR MULTI-AGENT SYSTEMS IN NOISE ENVIRONMENT

本文主要研究拓扑结构为有向强连接的非线性多智能体系统的均方一致性问题.考虑到非线性系统中的个体在传递信息时受到噪声环境的干扰,提出一种新的延迟控制方案,提高了系统的控制性能.基于Lyapunov稳定性和Ito^积分方程理论,得到多智能体系统渐近趋于均方一致的充分条件.同时,得到相同的耦合强度下容许的最大延迟间隔,数值仿真结果进一步验证了理论分析的有效性.

We investigate the mean square average consensus problem of multi-agent systems with directed topoi- ogy being strongly connected. It is considered that the nonlinear multi-agent individuals are interfered by noise en- vironment in the process of transmitting information, and a new control scheme is proposed to improve the control performance. Based on Lyapunov stability and Ito integral equation theory, the sufficient conditions for the mean square average consensus of the multi-agent systems are achieved. The allowable maximum delay interval with the same coupling strength is simultaneously obtained. Numerical fectiveness of theoretical analysis. simulations are also provided to demonstrate the effectiveness of theoretical analysis.