基于时滞状态导数反馈的一阶多智能体系统采样控制的一致性

Consensus of First Order Multi-Agent Systems with Sampled-Data Control Based on Delayed-State-Derivative Feedback

在具有加权项的时滞状态导数反馈协议下,研究了一阶多智能体系统采样控制的一致性问题.针对多智能体系统很难保证信息连续传递的现实情况,应用时滞分解技术将一致性协议进行了分解,给出了基于采样数据的离散时间一致性协议.在离散时间一致性协议下,给出了一阶时滞多智能体系统渐近实现平均一致的充要条件.当一致性协议退化为较为简单的情况时,将系统渐近实现平均一致的充要条件简化为一个不等式组.最后,相关结论的有效性通过数值仿真被验证.

Based on delayed-state-derivative feedback protocol with weighted terms,this paper investigates the problem of consensus for the first order multi-agent systems with sampled-data control.For the fact that multi-agent system is difficult to ensure continuous information transmission,the delay decomposition technique is applied to decompose the consensus protocol,and a discrete-time consensus protocol based on sampled-data is presented.Under the discrete-time consensus protocol,the necessary and sufficient conditions for the asymptotic average consensus of multi-agent systems are obtained.When the consensus protocol degenerates to a simple case,the necessary and sufficient conditions for the asymptotic average consensus of the systems are reduced to a set of inequalities.Finally,the validity of the conclusions is verified by numerical simulation.