分布式网络系统的任意预设时间分组一致

Prescribed-time group consensus of multiagent systems

研究任意预设时间控制下的多智能体网络系统分组一致性问题.设计非零分组投影参数下任意预设时间控制协议,使得分布式网络系统在物理允许范围内的任意预设时间内迅速实现分组一致,该预设时间与系统参数和初始值都无关系.基于代数图论、李雅普诺夫稳定性和矩阵理论等,分别讨论无向和有向拓扑网络情形下,多智能体系统实现预设时间分组一致的充分条件.独轮车的多智能体系统仿真实验验证了所提方法的有效性.

The prescribed-time control for group consensus problems of multiagent systems(MASs) are investigated in this paper.The prescribed-time control protocols including an arbitrary non-zero group projective parameter are presented to achieve group consensus within a predetermined time of physical allowance,which is independent of system parameters and initial values.Based on algebraic graph theory,Lyapunov stability and matrix theory,sufficient conditions of the designed parameters are established to realize prescribed time group consensus under both undirected and directed topology networks.The effectiveness of the proposed approaches is verified by simulation of the unicycle nonholonomic robots system.