| 基于PD反馈的二阶时滞多自主体系统一致性 |
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| 引用本文： | 卫佳,方华京.基于PD反馈的二阶时滞多自主体系统一致性[J].武汉工学院学报,2013(5):664-667,677. |
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| 作者姓名： | 卫佳 方华京 |
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| 作者单位： | 华中科技大学自动化学院,湖北武汉430074 |
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| 基金项目： | 基金项目：国家自然科学基金资助项目（60874053;61034006）. |
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| 摘 要： | 针对存在一个全局可达点的有向拓扑下二阶多自主体系统的一致性问题，在通信时滞条件下，提出了对位置和速度同时采用比例微分（proportionderivative，PD）状态反馈一致性协议，以保证系统收敛到一致，基于频域分析和奈式判据研究揭示了通信时滞与系统内部参数之间的关系，并分析得到系统收敛的最大时滞值。仿真实验证明，选择适当的PD状态反馈参数，可缩短系统的收敛时间，加快系统趋向一致的收敛速度。
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| 关 键 词： | 一致性 通信时延 多自主体系统 比例微分控制 频域分析方法 |
Consensus of Time - delayed Second - order Multi - agent System Based on PD Feedback |
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| Affiliation: | WEI Jia, FANG Huafing School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China. |
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| Abstract: | According to the consensus problem of second - order multi - agent system under directed network with time de- lays, a PD control protocol was presented for guaranteeing the system converge to a consensus. Based on frequency analysis meth- od and Nyquist Criterion, a relationship between the time - delay and the parameters of the system was figured out ; and a critical time - delay which makes the system come into being rectilinear oscillation was gained. Simulations illustrate that the system can quickly reach to a consensus if the PD state feedback parameter is chosen properly. |
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| Keywords: | consensus time - delay multi - agent system PD control frequency analysis method |
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