基于时变时滞动态拓扑的二阶Leader-Following多智能体一致性分析

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。     

具有时延和切换拓扑的高阶离散时间多智能体系统鲁棒保性能一致性

研究存在参数不确定性的高阶离散时间多智能体系统在时延和联合连通切换通信拓扑条件下的鲁棒保性能一致性问题,给出一种线性一致性协议的设计方法.1）引入高阶离散时间不确定多智能体系统的鲁棒保性能一致性问题,定义基于智能体邻居状态误差和控制输入的保性能函数;2）通过构造合适的Lyapunov函数并利用离散时间系统稳定性理论,推导出一个使高阶离散时间不确定多智能体系统在该条件下获得保性能一致性的线性矩阵不等式（Linear matrix inequality,LMI）充分条件,并给出相应的保性能上界;3）以一致性序列的形式给出参数不确定条件下的高阶离散时间多智能体系统的一致性收敛结果;4）数值仿真验证了本文理论的正确性和有效性.     

异构多智能体系统有限时间一致性分析

研究二阶智能体速度不可测情况下由一阶和二阶智能体构成的异构多智能体系统有限时间一致性问题。在固定拓扑结构下,给出了异构系统实现一致性的控制协议,通过LaSalle不变集原理和齐次控制方法得到了异构系统有限时间一致性的充分条件;在切换拓扑结构下,给出了异构系统一致性的控制协议,得到了异构系统有限时间一致性的充分条件。仿真结果验证了相关结果的有效性。     

非线性随机多智能体系统的固定时间一致性

本文研究了在固定拓扑和切换拓扑下,非线性随机多智能体系统的固定时间一致性问题.首先针对固定拓扑,设计了一种非线性控制协议,利用随机Lyapunov稳定性理论和代数图论给出了实现固定时间一致性的充分条件和收敛时间的上界值,随后将结论推广至切换拓扑,设计的切换拓扑子图的并集只需要满足连通条件,即可实现固定时间一致,模型更具...     

Stationary consensus of heterogeneous multi-agent systems with bounded communication delays

Consensus seeking is investigated for the discrete-time heterogeneous multi-agent systems composed of first-order agents and second-order agents, and two stationary consensus algorithms are constructed for the first-order agents and the second-order agents, respectively. Based on the properties of nonnegative matrices, sufficient consensus criteria are obtained for the agents with bounded communication delays under fixed topology and switching topologies, respectively. With some prerequisites on the coupling weights and the sampling interval, the asymptotic consensus achievement of the dynamic agents is independent of the communication delay, but strictly depends on the connectedness of the interconnection topology. Simulation results illustrate the correctness of the results.     

Leader-following consensus of multiple uncertain Euler–Lagrange systems under switching network topology

In recent years, the leader-following consensus problem for multiple uncertain Euler–Lagrange systems has been studied under some restrictive assumptions on the network topology. In this paper, we further study the same problem under switching network topology. We propose a distributed adaptive control law that can solve the problem under a switching network satisfying jointly connected condition. Under this condition, our results do not require the network to be undirected and allow the network to be disconnected at any time instant. Moreover, by introducing an exosystem to generate various reference signals, our control law can handle a class of reference signals such as sinusoidal signals with arbitrary amplitudes and initial phases or ramp signals with arbitrary slopes.     

切换拓扑下多自主体系统的事件触发一致性控制

本文针对一阶非线性多自主体系统,考察了切换拓扑下的事件触发一致性控制问题.当切换拓扑子图的并图包含有向生成树时,基于一阶保持器提出了一种分布式事件触发一致性算法,用以降低网络的通信负载.运用迭代法和不等式法,得到了多自主体系统达到有界一致性的充分条件.此外,证明了所提事件触发机制不存在Zeno现象,并得到了触发间隔的正下界.最后,给出仿真实例,验证了所提事件触发一致性算法和理论分析结果的有效性.     

Necessary and sufficient conditions for mean square consensus under Markov switching topologies

This article deals with the mean square consensus problem for second-order discrete-time multi-agent systems. Both cases of systems with and without time delays in Markov switching topologies are considered. With the introduced control protocols, necessary and sufficient conditions for mean square consensus of second-order multi-agent systems are derived. Under the given control protocols in Markov switching topologies, the second-order multi-agent systems can reach mean square consensus if and only if each union of the graphs corresponding to all the nodes in closed sets has a spanning tree. Finally, a simulation example is provided to illustrate the effectiveness of our theoretical results.     

切换拓扑下事件触发多智能体系统预定时间一致性

本文研究了具有非线性不确定性的多智能体系统在切换拓扑下的预定时间一致性问题,提出了基于事件触发的分布式预定时间一致性控制算法.该算法在节约资源的情况下,可使系统在预设时间内实现一致.通过代数图论和Lyapunov理论证明系统的预定时间稳定性,且不存在Zeno行为.仿真对比实验验证了所提算法的可行性和有效性.相较于有限时间控制算法,本算法的收敛时间界与初始状态无关,可通过选择单一时间参数设定系统收敛时间上界;相较于固定时间控制算法,本算法的预设收敛时间与控制算法参数无关,设定简单,且预估收敛时间具有更低的保守性.     

离散时间多智能体系统一致性的平均驻留时间条件

研究高阶离散时间线性多智能体系统在有向切换信息拓扑下的状态一致性问题。首先通过提出的线性变换将该一致性问题转换为相应离散时间线性切换系统的渐近稳定性问题。然后借助于切换系统稳定性的平均驻留时间方法,分别得到如下两种情形下该一致性问题可解的充分条件：1)信息拓扑集合中的一部分拓扑是可一致的;2)信息拓扑集合中所有信息拓扑是可一致的。最后通过数值仿真验证了所得理论结果的正确性。     

受外界干扰的离散多智能体系统的均方有界一致性

对有外界干扰的二阶离散多智能体系统,研究了在马尔可夫切换拓扑结构下的均方有界一致性问题.首先,设计了一个带有智能体位置和速度信息的控制协议.其次,在随机有界干扰的情况下,借助于矩阵分析方法以及Lyapunov函数,得到了闭环系统实现均方有界一致所需的代数条件,同时给出了各智能体状态误差的上界.最后,数值仿真验证了理论结果的有效性.     

切换拓扑下多智能体系统的固定/预定时间优化一致性

研究切换拓扑下多智能体系统的固定/预定时间优化问题,提出基于指数函数的分布式固定/预定时间优化算法.首先,所提出算法由两个阶段构成:第1阶段确保智能体的状态在固定/预定时间内收敛至各自的局部最优状态,从而消除零梯度和算法对系统初始状态位于其局部最优解处的要求;第2阶段实现智能体的状态在固定/预定时间内收敛至优化问题的全局最优解.然后,利用凸优化理论、Lyapunov稳定性理论,分析算法在通信拓扑切换下的收敛性.所提出的两种算法均无需交换梯度以及Hessian矩阵信息,其设计不依赖符号函数,且所需参数较少.最后,通过数值仿真验证上述理论结果.     

Finite-time consensus for leader-following second-order multi-agent system

The finite-time consensus problems of second-order multi-agent system under fixed and switching network topologies are studied in this article. Based on the graph theory, LaSalle's invariance principle and the homogeneity with dilation, the finite-time consensus protocol of each agent using local information is designed. The leader-following finite-time consensus is analysed in detail. Moreover, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.     

Distributed output regulation for linear multi-agent systems with communication delays

In this paper, a distributed output regulation approach is presented for the cooperative control of linear multi-agent systems in the presence of communication delays. Both dynamic state and output feedback control laws are designed for achieving the property of output regulation. Sufficient conditions for the existence of these control laws are provided in terms of linear matrix inequalities. Simulation results are given to support the efficiency of the proposed distributed output regulation approach.