二阶非线性多智能体系统领导跟随一致性研究

Leader-following consensus of second-order nonlinear multi-agent systems

为减少通信时延对系统一致性的影响,针对有领导者的二阶非线性多智能体系统的领导跟随一致性进行了研究,新颖地提出近似随机脉冲时延的概念并应用于新协议。相比于传统协议,新协议在脉冲输入时延较小时,各智能体基于时延态对自身当前时刻状态进行预测,并以自身未来预测状态取代时延态发送给各邻接智能体,同时补偿自身反馈通道时延,从而使系统更快实现一致性。基于Lyapunov稳定性理论,利用一类再推广的Halanay不等式的性质给出两个保证系统实现一致性的充分条件。最后,实例仿真证明了新协议的优越性。

In order to reduce the effects of communication delay,this paper investigated the leader-following consensus of the second-order nonlinear multi-agent systems with active leader. It presented a new concept called approximate random impulsive delay,and designed a new control protocol to make the system achieve the leader-following consensus. Compared with the traditional protocol,when the impulsive input delay was so small,each agent in the new protocol predicted their current state of time based on the delay state and sent the prediction state to each neighbor agents,which compensated for its own feedback channel delay meanwhile. Based on the Lyapunov stability theory,using the nature of a kind of generalized Halanay inequality obtained two sufficient conditions which could guarantee the reaching of leader-following consensus of systems. Finally,the numerical simulation verifies the superiority of new protocol.