有向拓扑下二阶时滞多智能体系统一致性研究

Research on Consistency of Two Order Delayed Multi-agent Systems with Directed Topology

通过深入研究传统的一致性算法,在现存的一致性协议中引入加权平均预测,并应用到二阶时滞多智能体系统,获得保证其实现稳态一致性的充分必要条件,并证明引入适当长度的加权平均预测可以改善系统的时滞鲁棒性。针对两种特殊的情况,它可加快系统实现稳态一致性的收敛速度。

In this paper,we investigated traditional consensus protocol,We introduce the weighted average prediction(WAP)into the existing consensus protocol and derive the necessary and sufficient condition guaranteeing the secondorder delayed multi-agent systems applying the WAP-based consensus protocol to achieve the stationary consensus.It’s proved that introducing the WAP with the proper length can improve the robustness against communication delay.Besides,it can accelerate the convergence speed of achieving the stationary consensus for two special cases.