共查询到19条相似文献,搜索用时 109 毫秒
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复杂工作环境中,许多自然现象的个体动力学特性用整数阶方程不能描述,只能用非整数阶(分数阶)动力学来描述个体的运动行为. 本文假设多自主体系统内部连接组成有向加权网络,个体的动态特性应用分数阶动力学方程描述,个体之间数据传输存在通信时延. 应用分数阶系统的Laplace变换和频域理论,研究了离散时间的分数阶多自主体系统的渐近一致性. 应用Hermit-Biehler 定理,研究了具有样本时延的分数阶多自主体系统的运动一致性,得到保证系统稳定的时延的上界阈值. 最后应用一个实例对结论进行了验证. 相似文献
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复杂分数阶多自主体系统的运动一致性 总被引:1,自引:0,他引:1
复杂环境中,许多自然现象的动力学特性不能应用整数阶方程描述,而只能用分数阶(非整数阶)动力学的智能个体合作行为来解释. 本文假设多自主体 系统存在个体差异,采用不同的分数阶动力学特性组成复杂分数混合阶微分方程. 应用分数阶系统的Laplace变换和频域理论,研究了有向网络拓扑下,时延分数混合阶多自主体系统的运动一致性. 由于整数阶系统是分数阶系统的特殊情况,本文的结论可以推广到整数阶与分数阶混合的多自主体系统中. 最后,应用仿真实例对本文结论进行了验证. 相似文献
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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。 相似文献
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异构变时延多智能体系统编队控制分析 总被引:1,自引:0,他引:1
实际工程应用中,异构多智能体的编队控制问题研究具有十分重要的意义。考虑现实环境影响,编队系统个体之间的通信变时延难以忽略。系统收敛速率是评价系统性能的重要依据,然而现有编队控制问题研究很少能给出相应的量化指标。针对上述情形,对包含一、二阶智能体的异构变时延系统的编队控制问题进行分析研究。首先,考虑固定有向通信拓扑情况,对领航跟随者模式下异构变时延多智能体系统提出线性一致性控制协议。然后,构建误差系统模型,利用图论与矩阵论分析方法,并结合Routh-Hurwitz定理与牛顿-莱布尼兹公式,获得系统实现编队控制的充要条件,同时得到估算系统收敛速率的不等式关系。最后,仿真算例中随机给定一种系统节点0全局可达的通信拓扑,并对不同时延情况的编队控制效果进行分析,验证一致性控制协议的正确性和有效性。 相似文献
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Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results. 相似文献
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Output consensus for heterogeneous multiagent systems with Markovian switching network topologies 下载免费PDF全文
This paper investigates the output consensus problem of heterogeneous continuous‐time multiagent systems under randomly switching communication topologies. The switching mechanism is governed by a time‐homogeneous Markov process, whose states correspond to all possible communication topologies among agents. A novel dynamic consensus controller is proposed. The controller gains are designed based on the information of the expectation graph and the solutions to regulator equations. Furthermore, a necessary and sufficient condition is presented for output consensus of the controlled multiagent system in mean square sense. Finally, a simulation example is provided to corroborate the effectiveness of the proposed controller. 相似文献
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Guoguang Wen Chunyan Wang Zhi Chen Zhaoxia Peng 《International journal of control》2016,89(2):259-269
In this paper, the group consensus problems of heterogeneous multi-agent systems with fixed and switching topologies are investigated. First, a class of distributed group consensus protocol is proposed for achieving the group consensus of heterogeneous multi-agent systems by using the neighbours’ information. Then, some corresponding sufficient conditions are obtained to guarantee the achievement of group consensus. Rigorous proofs are given by using graph theory, matrix theory and Lyapunov theory. Finally, numerical simulations are also given to verify the theoretical analysis. 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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This paper studies the consensus of a group of linear dynamic agents with a uniform communication delay and focuses on searching an allowable delay bound. As long as the delay is less than this bound, there exist linear feedback consensus protocols driving the multi-agent system to achieve consensus. Both fixed and switching topology cases are investigated. In both cases, the consensus problem is converted to the robust stability problem of corresponding uncertain state-delayed systems. By using Lyapunov–Krasovskii functional analysis, consensus conditions which contain the feedback gain conditions and delay conditions are proposed for systems over fixed and switching topologies, respectively. Furthermore, allowable delay bounds are obtained for both systems by solving the optimal robust stabilisation problems. Numerical examples are given to illustrate the results. 相似文献
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This article considers the mean square leader-following output consensus problem of heterogeneous multi-agent systems under randomly switching topologies and time-varying communication delays. By modeling the switching topologies as a time-homogeneous Markov process and taking the communication delays into consideration, a distributed observer is proposed to estimate the state of the leader. A novel distributed output feedback controller is then designed. By constructing a novel switching Lyapunov functional, an easily-verifiable sufficient condition to achieve the mean square leader-following output consensus is given. Finally, two simulation examples are presented to show the effectiveness of the proposed control scheme. 相似文献
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Group consensus of multi-agent systems in directed networks with noises and time delays 总被引:1,自引:0,他引:1
Yilun Shang 《International journal of systems science》2013,44(14):2481-2492
In this paper, group consensus problems in fixed directed networks of dynamic agents are investigated. Group consensus means that the agents in each group share a consistent value while there is no agreement between any two groups. Based on algebraic graph theory, sufficient conditions guaranteeing group consensus under the proposed control protocol in the presence of random noises and communication delays are derived. The analysis uses a stability result of Mao for stochastic differential delay equations, which ensures the consensus can be achieved almost surely and exponentially fast. Numerical examples are provided to demonstrate the availability of the obtained results as well as the effect of time delay/noise intensity. 相似文献
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Wenying Hou Zongze Wu Minyue Fu Huanshui Zhang 《International journal of systems science》2018,49(5):947-953
In this paper, we consider the consensus conditions for discrete-time multi-agent systems with communication delay between agents, subject to that each agent's state is constrained to lie in a given convex set. And we will present some consensus conditions for unconstrained multi-agent systems with time delay. 相似文献