摘要
本文研究了具有不同通信时延和不同输入时延的移动多智能体算法的一致性.假设多智能体系统有n个智能体和一个Leader组成,网络连接拓扑是非对称有向加权图,智能体Leader为拓扑图的全局可达节点.应用频域控制理论和广义Nyquist判据研究了时延多智能体算法的一致性,得到保证系统一致性的收敛条件.该一致性条件是一个应用节点局部信息的分散式条件,而且只与输入时延有关.最后,通过计算机仿真验证了本文结论的有效性.
Consensus of mobile multi-agents system with heterogeneous communication delays and heterogeneous input delays is studied.Suppose multi-agent systems consist of n agents and a leader,there is an asymmetric directed interconnected graph with leader as a globally reachable node.By Appling frequency domain theory and generalized Nyquist criterion,the consensus of delayed algorithm with leader-following is analyzed,and a decentralized convergence condition is obtained to ensure the consensus of multi-agent systems.This consensus condition is dependent on input delays but independent of communication delays.Finally,computer simulation is used to show the validity of the results.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2011年第4期872-876,共5页
Acta Electronica Sinica
基金
国家自然科学基金(No.60875039
No.60904022
No.60774016)
山东省教育厅科研计划(No.J08LJ01)
关键词
不同时延
领航者
多智能体
非对称拓扑
分散式
一致性条件
heterogeneous delays
leader
multi-agent systems
asymmetric topology
decentralized
consensus condition
