摘要
首先,给出一种适用于可连续通信并具有时变通信延迟的有向多智能体系统关于参考状态的一致性算法,基于此算法,各智能体协同变量关于参考状态的一致性问题被转化为一个误差系统的稳定性问题。然后,利用Lyapunov稳定性理论,推导出多智能体系统在该算法作用下达到一致性的充分性判据,并由矩阵不等式的形式描述。结果表明:当时延函数有界时,多智能体的网络结构是影响一致性的关键要素。最后,以一组水下无人航行器(UUV)自主集结到指定地点为应用背景,仿真验证了所提出算法和判据的有效性。
An algorithm was proposed for solving the conformability in the multi-agent systems with time-varying delayed communication and reference state. Based on the algorithm, the problem of conformability was converted into the one of stability of an error system. Then, a sufficient LMI criterion for achieving conformability was derived with Lyapunov＇s direct method. The result indicates that if the delay function is bounded, the network topology is a key to conformability. Finally, an application background about the multiple UUVs＇ rendezvous problem was given and the effectiveness of the algorithm and criterion validated by the simulation.
出处
《海军工程大学学报》
CAS
北大核心
2011年第4期1-5,共5页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(60674049)
关键词
协同控制
多智能体系统
一致性
cooperative control
multi-agent system
conformability
