摘要
为解决有领导者的多智能体系统的一致性问题,首先,定义了虚拟领导者和实体领导者,提出了混合模式领导者的概念;然后,用有向图表示多智能系统的拓扑结构,并根据该拓扑结构建立网络系统的一阶数学模型,设计准周期的离散控制器对领导者进行复位,通过对领导者的外界控制来控制整个系统的全局性态;接着,给出了系统稳定的充分条件,并用李雅普诺夫稳定性定理对系统的稳定性进行了判定和分析;最后,通过Matlab仿真验证了理论的正确性。
Consensus in multi-agent systems in hybrid mode is touched upon here.Firstly,both virtual leader and entity leader are presented and on account of that,hybrid mode leader is proposed.And then the topology of multi-agent systems is represented by the directed graph,and the first-order mathematical model of the system is established according to the topology structure.Upon which,the quasi-periodic discrete controller will be employed to reset the leaders,and then the consensus of the system will be realized.Next,the sufficient conditions of the stability of the system are given and the stability of the system is determined and analyzed with Lyapunov stability theorem.Finally,the numerical simulation of the multi-agent systems with 4 agents is carried out,which verifies the effectiveness of the proposed scheme.
作者
宋运忠
李云
SONG Yun-zhong;LI Yun(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454003,China)
出处
《控制工程》
CSCD
北大核心
2020年第5期901-908,共8页
Control Engineering of China
基金
国家自然科学基金项目(61340041,61374079)
河南省自然科学基金项目(182300410112)。
