线性定常型多自主体系统的基于自适应控制器的双向符号趋同

Bipartite sign-consensus of linear time-invariant multi-agent systems based on adaptive controller

研究了线性定常型多自主体系统的双向符号趋同问题.由于系统的全局信息难以获取,仅利用自主体本身及其邻居的信息,为每个自主体设计了完全分布式的自适应控制器.然后,借助矩阵论、李雅普诺夫函数等工具,分析了闭环系统的性能,并且给出了系统基于自适应控制器实现双向符号趋同的充分条件.研究表明,如果自主体间的通讯拓扑图是结构平衡的且是强连通的,那么线性定常型多自主体系统在所设计的控制器下可以实现双向符号趋同.

The bipartite sign-consensus problem of linear time-invariant multi-agent systems based on adaptive controller is studied.Since the global information of the whole system is difficult to obtain,a fully distributed adaptive control is designed only using the information of the agent itself and its neighbors.With the help of matrix theory,Lyapunov function and algebraic theory,sufficient conditions for the system achieving bipartite sign-consensus are given.It is proved that if the communication topology between agents is structurally balanced and strongly connected,the bipartite sign-consensus can be achieved for linear time-invariant multi-agent systems under the proposed control.