摘要
针对存在通信约束的多智能体系统的有限时间一致性问题,提出了一类连续的非线性一致性算法.利用李雅普诺夫有限时间稳定性理论和矩阵理论,证明了当系统个体间的通信网络拓扑结构为连通图的情况下,该算法使得系统具有通信约束时能够在有限时间内达到一致.进一步给出了系统收敛时间的上界,该时间上界由选取的李雅普诺夫函数、无向图的拉普拉斯矩阵以及系统的初始状态决定.仿真示例验证了所提出算法的有效性.
Finite-time consensus protocol for continuous multi-agent systems with communication constraints is proposed. Based on the theory of finite-time Lyapunov stability and matrix theory, the sufficient conditions which guarantee the multi-agent systems to reach a consensus in finite time are obtained, provided that the undirected network is connected. Moreover, the settling time for the system to reach a consensus is given, it is important to know that the settling time depends on the Lyapunov function, the Laplacian matrix of the undirected graph and the initial state of the system. Simulation results illustrate the correctness of the result.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2010年第11期60-63,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(60874053
60574088)
关键词
有限时间一致性
多智能体系统
分布式控制
无向图
一致性算法
finite-time consensus
multi-agent systems
distributed control
undirected graph
consensus protocol
