摘要
针对具有时变时滞的二阶Leader-Following多智能体系统,研究了其一致性问题。假设其通信拓扑是时刻切换的,并且每个子时间段内系统拓扑不完全连通,采用Lyapunov-Krasovskii泛函和矛盾分析法,对系统进行了解耦分析,得出只需所有时间段内的拓扑并集连通,且系统的特征根满足一定条件,系统能达到一致,并进行了理论证明。以4个following智能体与1个leader智能体做成的网络为例进行具体说明,所得仿真结果验证了理论的有效性。
This paper discussed second-order leader-following consensus problem with time-varying communication delays under a jointly connected network topology and where the leader was dynamic.It assumed the communication topologies was dynamic and the topology in each subinterval was not connected.By the Lyapunov-Krasovskii theorems and contradiction method,it proved that the system would achieve consensus if the network was jointly-connected and the eigenvalues of each Laplacian matrices satisfied some conditions.Finally,it gave detailed description by an example of system which made up of four following agents and one leader agent.The numerical simulation shows the effectiveness of the results.
出处
《计算机应用研究》
CSCD
北大核心
2013年第4期1024-1027,共4页
Application Research of Computers
基金
国家自然科学基金资助项目(61174021)
关键词
二阶一致
多智能体系统
领航者
动态拓扑
时变时滞
并集连通
second-order consensus
multi-agent systems
leader-following
dynamic topologies
time-varying delays
jointly-connected
