摘要
针对拓扑结构为有向图的一阶多智能体系统,研究在组间状态差值事先未知以及状态差值事先已知两种情况下的系统快速分组一致性问题.设计基于智能体记忆状态的快速一致性协议,利用矩阵理论和频域分析法分别给出两种情况下系统收敛一致的充分条件,同时给出使系统能够更快收敛的记忆状态选取时间上界.通过仿真实验验证了所提出协议的正确性.
For single-integrator kinematics of multi-agent systems with directed graph topology, the fast group consensus problem both in the situations of unknown and known state difference value is studied.A fast consensus protocol based on memory states is proposed.Based on the matrix theory and frequency-domain analysis, the sufficient conditions for system group convergence under two situations are provided respectively.Moreover, the upper bounds of time of memory states are provided respectively to increase the convergence speed of the multi-agent systems.Simulation results show the effectiveness of the proposed protocol.
出处
《控制与决策》
EI
CSCD
北大核心
2017年第3期535-540,共6页
Control and Decision
基金
国家自然科学基金项目(61573374
61503408)
