含通信延时及输入延时的线性多智能体的一致性

针对通信延时及输入延时并存的情况下,研究具有一般线性动态特性的高阶多智能体在固定且无向的网络拓扑下的一致性.通过将多智能体的特征方程分解为一系列低阶的因子,一致性问题转换为一系列低阶因子的稳定性分析问题,降低了问题的分析复杂度.进一步地,分析无延时情况下多智能体达到一致性的控制增益的取值范围,即增益的稳定区间.当从稳定区间选取一个固定的控制增益时,应用频率扫描高级聚类法分析多个因子在两延时参数空间中的稳定性,并由此获得多智能体延时无关及延时相关的一致性结论.一个说明性的例子验证了分析结论.

Consensus of Linear Multi-Agent Systems with Communication and Input Delays

In this paper, we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed, undirected network topology. By factorizing the characteristic equation of the multi-agent system into a set of reduced-order factors, the problem is transformed to the stability analysis of resulting factors with reduction in complexity. Furthermore, stable ranges of the control gain, such that the consensus of multi-agent systems could be reached when delays vanish, are analyzed. With control gain confined to stable ranges, and applying the advanced clustering with frequency sweeping method to investigate the stability of factors, the delayindependent and delay-dependent consensus are discussed. An illustrative example is offered to verify the analytical conclusions.