一阶非线性多智能体的间歇采样一致性设计

Consensus Design of Intermittent Sampled-data for First-order Nonlinear Multi-Agent

采用周期间歇采样控制策略实现了一阶非线性多智能体系统的分布式一致性。该控制策略不仅降低了控制器的更新频率而且减少了其工作时间。运用代数图论以及矩阵分析理论,给出了依赖网络结构、采样周期以及耦合增益的一致性条件。最后利用仿真实例验证了该一致性理论的有效性并对于给定的耦合增益和网络结构可简单导出通信宽度的可行区域。

The distributed consensus protocol for first-order nonlinear multi-agent systems is designed based on periodic intermittent sampling control strategy.This strategy can not only reduce the update frequency of the controller,but also reduce the working time of the controller.Based on the theory of algebra graph and matrix analysis,the consensus conditions dependent on network structure,sampling period and coupling gain,are given.Finally,the effectiveness of the proposed method is verified by numerical simulation,and the feasible area of the communication width is derived for the given coupling gain and network structure.