具有随机时滞的多智能体系统分组一致性控制

Group Consistency Control of Multi-Agent System with Random Delay

针对多智能体系统存在的通信时滞问题,对随机时滞作用下的多智能体分组一致性控制进行研究。将系统的时滞状态信息和当前状态信息相结合,通过引入随机变量调整两者权重,设计控制律,进而研究时滞以不同概率产生时对系统分组一致性的影响,通过构造Lyapunov-krasovskii泛函数推导系统实现分组一致性的条件。仿真结果表明,设计的控制律适用于随机时滞情况下多智能体系统的一致性控制。

Aiming at the problem of communication time delay in multi-agent system,multi-agent packet consistent control with random time delay was studied.The control law was designed by combining the delay state information of the system with the current state information and the weight of the two was adjusted by introducing random variables.Then,the influence of the delay with different probabilities on the grouping consistency of the system was studied.The conditions for the group consensus of the system were derived by constructing the Lyapunov-Krasovskii functional function.The simulation results show that the control law designed in this paper is suitable for the consistent control of multi-agent system with random time delay.