摘要
研究了多智能体系统的速度一致控制问题。在对输入有界约束的条件下提出了一个新的控制协议,利用李雅普诺夫理论,分析了多智能体系统的稳定性,并给出了在有界控制协议下系统实现速度一致性的条件。最后,通过仿真表明所提控制协议的有效性。
This paper investigated consensus problem of the velocity of multi-agent system.As for the practicalapplication,a new control protocol with bounded constraint was proposed.Based on the Lyapunov theory,theasymptotically stability of the multi-agent systems as well as the consensus on velocity were presented withmathematical rigor.Finally,the simulation results verified the effectiveness of the obtained control protocol.
作者
李晓梅
林振衡
LI Xiaomei;LIN Zhenheng(School of Mechanical & Elecrtical Engineering, Putian University, Putian Fujian 351100, China)
出处
《莆田学院学报》
2017年第2期24-27,共4页
Journal of putian University
基金
福建省激光精密加工工程技术研究中心开放课题(20150502)
现代精密测量与激光无损检测福建省高校重点实验室开放课题(s20150502)
关键词
多智能体系统
有界输入约束
一致性控制
multi-agent systems
bounded constraints on control input
consensus control
