摘要
研究一阶连续多智能体系统的一致性问题,其中每个智能体只能在一系列离散时刻上获得其相对邻居的状态信息,并且每个智能体的保持器的周期和采样器的周期是不同的.通过分析多智能体系统的稳定性,获得了一致性成立的充要条件,该条件揭示了交流拓扑、控制器增益、采样器的周期和保持器的周期的关系.最后,提供一个仿真例子以说明理论结果的有效性.
This paper studies the consensus problem of multiple agents with continuous-time first-order dynamics, where each agent can only obtain its states relative to its neighbors at sampling instants. It is assumed that the sampling period is different from the period of zero-order hold. A sufficient and necessary condition for consensus is provided by analyzing the stability of multi-agent systems, and the sufficient and necessary condition reveals the relationship among the interaction topology, controller gains, the sampling period, and the period of zero-order hold. Simulations are performed to validate the theoretical results.
出处
《数学的实践与认识》
CSCD
北大核心
2013年第10期106-110,共5页
Mathematics in Practice and Theory
基金
国家自然科学基金(61203150
61170113)
北京市自然科学基金(4122019)
北京市人才强教计划项目(PHR201108055)
2013年度市教委科技计划项目(KM201310009011)
