复杂分数阶多自主体系统的运动一致性

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.

Movement Consensus of Complex Fractional-order Multi-agent Systems

Due to the complexity of the practical environment, many distributed multi-agent systems can not be illustrated with the integer-order dynamics and can only be described with the fractional-order dynamics. Suppose multi-agent systems will show the individual diversity with the difference agents, where the different fractional-order dynamics are used to illustrate the agent systems and compose complex fractional compounded-order systems. Applying the Laplace transform and frequency domain theory of the fractional-order operator, the consensus of delayed multi-agent systems is studied with directed weighted topologies. Since the integer-order model is a special case of fractional-order model, the results in this paper can be extend to the compounded-order systems with integer-order models and fractional-order models. Finally, simulation examples are used to verify our results.