| 离散时间异质多智能体系统的一致性控制 |
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| 引用本文： | 刘聪, 周强, 胡晓光. 离散时间异质多智能体系统的一致性控制[J]. 工程科学学报, 2016, 38(1): 143-148. DOI: 10.13374/j.issn2095-9389.2016.01.019 |
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| 作者姓名： | 刘聪 周强 胡晓光 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191 |
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| 摘 要： | 针对由一阶智能体和二阶智能体组成的离散异质多智能体系统,研究其一致性问题.设计无通信时延和具有有界通信时延时的分布式一致性协议,通过将系统转化为自治的离散时间线性时不变系统,运用矩阵理论和代数图论方法,分析得到系统实现一致性的充分条件.获得的充分条件与采样周期、控制参数和系统的拓扑结构有关.证明了系统的一致性不受有界通信时延影响.数值仿真结果验证了理论结果的正确性.
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| 关 键 词： | 异质系统 多智能体系统 离散时间系统 一致性 通信 时延 |
| 收稿时间： | 2015-03-12 |
Consensus control of discrete-time heterogeneous multi-agent systems |
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| LIU Cong, ZHOU Qiang, HU Xiao-guang. Consensus control of discrete-time heterogeneous multi-agent systems[J]. Chinese Journal of Engineering, 2016, 38(1): 143-148. DOI: 10.13374/j.issn2095-9389.2016.01.019 |
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| Authors: | LIU Cong ZHOU Qiang HU Xiao-guang |
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| Affiliation: | School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China |
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| Abstract: | Consensus problems were investigated for discrete-time heterogeneous multi-agent systems composed of first-order agents and second-order agents. Distributed consensus protocols with and without the bound communication delay were respectively designed. By transforming the systems into autonomous discrete-time linear time-invariant systems and using the matrix theory and algebraic graph theory,sufficient conditions are derived for the systems reaching consensus. The obtained sufficient conditions are related to the sampling period,the control parameter and the system topology structure. It is proved that the consensus of the systems is independent of the bound communication delay. Simulation results verify the correctness of the theoretical results. |
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| Keywords: | heterogeneous systems multi-agent systems discrete time systems consensus communication time delay |
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