摘要
针对有向加权且存在全局可达点的静态网络拓扑,考虑了同时具有通信时延和输入时延的一阶、二阶智能体系统的运动一致性问题.基于广义Nyquist准则与频域控制理论的方法,分析并得到了网络中所有智能体渐进收敛到一致状态的充分条件.通过该条件发现一致性的达到只与系统的耦合强度、智能体的输入时延以及各自的连接状态信息有关,与通信时延无关.但是,通信时延的存在却要影响系统的动态特性.仿真实验结果进一步验证了理论分析所得结论的正确性.
Consensus problems of first-order and second-order multi-agent system with communication delays and input delays are proposed based on the frequency-domain analysis and generalized Nyquist criterion.Supposing that the topology of the multi-agent system is fixed,asymmetrically interconnected digraph and owns a globally reachable node,the sufficient condition for system convergence is obtained.The results show that the condition of convergence is dependent only on system coupling strength,each agent input time delay and the adjacent weights to its neighbors,but independent of communication delay which can affect the dynamics of the system. Finally,simulations are provided to demonstrate the effectiveness of our theoretical results.
出处
《物理学报》
SCIE
EI
CAS
CSCD
北大核心
2012年第15期8-16,共9页
Acta Physica Sinica
基金
国家自然科学基金(批准号:60973114,61170249)
重庆市科委自然科学基金(批准号:2009BA2021,cstc2011jjA1320)
重庆大学输配电装备及系统安全与新技术国家重点实验室基金(批准号:2007DA10512711206)资助的课题~~
关键词
多智能体
时延
一致性
收敛
multi-agent; time delay; consensus; convergence