共查询到19条相似文献,搜索用时 234 毫秒
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研究了一类由一阶和二阶智能体组成的异质多智能体系统的组一致性问题.首先,在多时变时延异质系统中设计了实现静态组一致的控制算法;其次,运用稳定性理论和线性矩阵不等式,分别给出了无时延、同时具有通信与输入时延的异质多智能体系统实现组一致性的充分条件;再次,通过求解一组可行的线性矩阵不等式,得到了输入时延的容许上界,并得出了通信时延与异质多智能体系统的组一致性无关的结论;最后,仿真结果验证了理论结果的有效性. 相似文献
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针对多智能体系统中信息交互存在通信时延这一约束,在无向符号图拓扑结构下分别研究了含固定时延和时变时延的一阶多智能体系统二分一致性问题。通过设计相应的控制协议,使得该系统收敛到两个模值相同但符号不同的状态。在稳定性分析中,利用广义Nyquist准则的方法,得到含固定时延多智能体系统实现二分一致性的充分条件;对含时变时延系统构造包含三重积分项的Lyapunov函数,利用积分不等式和线性矩阵不等式理论,并结合自由矩阵的方法得到含时变时延多智能体系统实现二分一致性的充分条件。最后,数值仿真验证了所得结论的有效性和正确性。 相似文献
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针对一类混合异质多智能体系统的分组一致性控制问题进行了研究。具体分析了由一阶智能体和二阶智能体组成的混合异质系统,研究其在离散情况下的分组一致性。基于两个合理的假设提出了线性控制协议,运用代数图论、稳定性理论和矩阵理论,分析协议作用下闭环系统的系统矩阵及动态特性,取得了系统渐近实现分组一致性的充分条件,该条件与系统拓扑结构、采样周期以及控制参数有关。结论同时适用于有向拓扑与无向拓扑,最后通过仿真实例对所得分析结果进行了验证。 相似文献
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针对一类由连续时间一阶和二阶智能体组成的异质多智能体系统,首先给出一阶和二阶智能体实现一致性的算法,其次利用图论和矩阵理论相关知识,在固定有向拓扑结构下,给出异质多智能体系统实现一致性的充要条件,且在一致性实现时给出一致性状态的确切表达式;在切换拓扑结构下,给出异质多智能体系统实现一致性的充分条件。最后给出数值算例验证了相关结论的有效性。 相似文献
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针对具有通信时延的二阶多智能体系统的有限时间一致性控制问题,分别研究了具有固定拓扑和切换拓扑网络结构情形下的二阶多智能体系统的有限时间一致性。为使多智能体系统能在有限时间内可以达到一致,引入一致性控制增益矩阵并设计了相应的基于相对位置和相对速度的时延状态误差有限时间一致性控制算法,利用系统模型转换,泛函微分方程稳定性理论和有限时间Lyapunov稳定性定理得到了使系统在有限时间内达到一致跟踪的最大时延上界值。最后,仿真实验结果验证了所得理论的正确性和有效性。 相似文献
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研究了具有随机通信时延的二阶多智能体系统的一致性控制问题.分别讨论了具有固定拓扑结构和变化拓扑结构两种情形下二阶多智能体系统在具有随机通信时延情况下的一致性问题.通过构造Lyapunov函数的方法得到多智能体系统的时延依赖稳定判据,并以线性矩阵不等式(LMI)的形式给出了系统稳定的条件.最后,仿真和实验结果验证了研究所得结论的正确性和有效性. 相似文献
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针对一类多智能体系统,研究了系统在切换拓扑结构下的一致性控制问题。假定系统拓扑结构的变化符合马尔可夫过程,设计与切换拓扑结构相关的一致性协议,利用线性矩阵不等式和随机稳定性理论,给出了多智能体系统满足一致性的充分条件,并通过数值仿真验证了所提控制方案的可行性和有效性。 相似文献
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Abrar Ahmed Muhammad Rehan Naeem Iqbal 《International Journal of Control, Automation and Systems》2011,9(4):681-690
This paper proposes the design of anti-windup compensator gain for improving stability of actuator input constrained linear
multiple state delays systems. The system state delays are classified into mixed delay-dependent/delay-independent analysis
and described by delay-differential equations. The real scalar delays are assumed to be fixed and unknown, but with known
coefficient matrices. It is shown that the closed-loop system containing the controller plus the anti-windup gain can be modeled
as a linear system with dead-zone nonlinearity. The formulation of anti-windup compensator gain is based on convex optimization
using linear matrix inequalities (LMI) that ensure closed-loop asymptotic stability of the system while accounting upper-bound
delays. The devised LMIs based on Lyapunov-Krasovskii functionals prove significantly less conservative in giving higher upper
bounds delays in the formulation of anti-windup gain besides ensuring closed-loop asymptotic stability. 相似文献
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This work is concerned with the robust resilient control problem for uncertain networked control systems (NCSs) with variable sampling intervals, variant-induced delays and possible data dropouts, which is seldom considered in current literature. It is mainly based on the continuous time-varying-delay system approach. Followed by the nominal case, delay-dependent resilient robust stabilising conditions for the closed-loop NCS against controller gain variations are derived by employing a novel Lyapunov–Krasovskii functional which makes good use of the information of both lower and upper bounds on the varying input delay, and the upper bound on the variable sampling interval as well. A feasible solution of the obtained criterion formulated as linear matrix inequalities can be gotten. A tighter bounding technique is presented for acquiring the time derivative of the functional so as to utilise many more useful elements, meanwhile neither slack variable nor correlated augmented item is introduced to reduce overall computational burden. Two examples are given to show the effectiveness of the proposed method. 相似文献
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Changchun Hua 《Asian journal of control》2014,16(6):1726-1734
This paper is concerned with the problems of delay‐dependent stability and static output feedback (SOF) control of two‐dimensional (2‐D) discrete systems with interval time‐varying delays, which are described by the Fornasini‐Marchesini (FM) second model. The upper and lower bounds of delays are considered. Applying a new method of estimating the upper bound on the difference of Lyapunov function that does not ignore any terms, a new delay‐dependent stability criteria based on linear matrix inequalities (LMIs) is derived. Then, given the lower bounds of time‐varying delays, the maximum upper bounds in the above LMIs are obtained through computing a convex optimization problem. Based on the stability criteria, the SOF control problem is formulated in terms of a bilinear matrix inequality (BMI). With the use of the slack variable technique, a sufficient LMI condition is proposed for the BMI. Moreover, the SOF gain can be solved by LMIs. Numerical examples show the effectiveness and advantages of our results. 相似文献
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Zhang Qingjie Niu Yifeng Wang Lin Shen Lincheng Zhu Huayong 《International Journal of Control, Automation and Systems》2011,9(6):1209-1218
The average consensus problem of high-order multi-agent systems with multiple time-varying communication delays is investigated
in this paper. By using the idea of state decomposition, the condition for guaranteeing average consensus is converted into
verifying the stability of zero equilibrium of disagreement system. Considering multiple time-varying communication delays,
Lyapunov-Krasovskii approach in time-domain is employed to analyze the stability of zero equilibrium. With the help of Free-weighting
Matrices (FWM) approach, the tolerant upper bounds on communication delays can be obtained through solving feasible linear
matrix inequalities (LMIs). Delay-dependent stability criteria for both strongly-connected fixed and switching topologies
are provided in the main results. Further, the conclusion is extended to the case of jointly-connected switching topologies.
Numerical examples and simulation results are given to demonstrate the effectiveness and the benefit on reducing conservativeness
of the proposed method. 相似文献
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This paper is concerned with stability analysis problem for uncertain stochastic neural networks with discrete interval and distributed time-varying delays. The parameter uncertainties are assumed to be norm bounded and the delay is assumed to be time-varying and belong to a given interval, which means that the lower and upper bounds of interval time-varying delays are available. Based on the new Lyapunov–Krasovskii functional and stochastic stability theory, delay-interval dependent stability criteria are obtained in terms of linear matrix inequalities. Some numerical examples and comparisons are provided to show that the proposed results significantly improve the allowable upper and lower bounds of delays over some existing results in the literature. Furthermore, the supplementary requirement that the time derivative of discrete time-varying delays must be smaller than the value one is not necessary to derive the results in this paper. 相似文献
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针对具有区间时变时滞2-D离散系统,利用时滞相关方法,研究其稳定性与控制问题.首先选取含有时滞项上、下界的一个新的Lyapunov函数,对其差分时考虑所有项,得到了基于线性矩阵不等式(LMI)的时滞相关稳定性准则;然后给定时变时滞项的下界,再由一个凸优化问题最大化其上界,进而通过状态反馈实现系统的时滞相关控制,且求解LMI可得到增益矩阵;最后,利用数值算例说明了所得结果有效且优于已有成果. 相似文献
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Chun-Pi Lin 《International journal of systems science》2013,44(6):1112-1125
A general class of linear systems with multiple successive delay components is considered in this article. The delays are assumed to vary in intervals, and delay-dependent exponential stability conditions are derived in terms of linear matrix inequalities. To reduce conservativeness, a new Lyapunov–Krasovskii functional is designed to contain more complete state information, so that a derivation procedure with time-varying delays treated as uncertain parameters can be adopted. Usage of slack variables and inequalities are refrained as much as possible when bounds on the Lyapunov derivative are sought. The stability criteria are tested by two popular numerical examples, with less conservative results obtained in all the checked cases. Besides, a practical application of the derived conditions is illustrated. 相似文献
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This paper proposes a distributed model‐independent algorithm to achieve leaderless consensus on a directed network where each fully‐actuated agent has self‐dynamics described by Euler–Lagrange equations of motion. Specifically, we aim to achieve consensus of the generalised coordinates with zero generalised velocity. We show that on a strongly connected graph, a model‐independent algorithm can achieve the consensus objective at an exponential rate if an upper bound on the initial conditions is known a priori. By model‐independent, we mean that each agent can execute the algorithm with no knowledge of the equations describing the self‐dynamics of any agent. For design of the control laws which achieve consensus, a control gain scalar and a control gain matrix are required to satisfy several inequalities involving bounds on the matrices of the agent dynamic model, bounds on the Laplacian matrix describing the network topology and the set of initial conditions; design of the algorithm therefore requires some knowledge on the bounds of the agent dynamical parameters. Because only bounds are required, the proposed algorithm offers robustness to uncertainty in the parameters of the multiagent system. We systematically show that additional relative velocity information improves the performance of the controller. Numerical simulations are provided to show the effectiveness of the algorithm. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献