摘要
为解决多智能体系统领导—跟随一致性问题,针对有向拓扑下存在时变通信时滞随机发生问题,考虑系统鲁棒性及时滞对一致性的影响,设计分布式控制协议,并对该协议的有效性进行理论分析。首先,根据每个智能体的动力学模型及控制协议,通过模型变换建立误差系统,将多智能体系统一致性问题转变为误差系统稳定性问题;其次,构造合适的Lyapunov-Krasovskii泛函,基于Lyapunov稳定性理论和线性矩阵不等式理论,给出系统实现一致性的充分条件,并求解线性矩阵不等式得到控制增益矩阵。最后,通过MATLAB软件进行数值仿真,验证结果的有效性。
Considering the influence of robustness and time delay,the main purpose of this paper is to study the leader-following consensus problem of multi-agent systems.In this paper,a distributed control protocol is proposed for multi-agent systems with randomly occurring nonlinearities and time-varying communication delay in a directed topology.At first,according to the dynamic model of each agent and the designed control protocol,the error system is established by model transformation,and the consensus problem of multi-agent systems is transformed into the stability of error system.Then,based on Lyapunov stability theory and linear matrix inequality theory,sufficient conditions are obtained to achieve consensus by constructing a suitable Lyapunov-Krasovskii functional,and the control gain is obtained to solves the linear matrix inequality.Finally,a MATLAB numerical simulation is presented to verify the effectiveness of the theoretical results.
作者
孙艳鹏
彭世国
陈珂熙
SUN Yan-peng;PENG Shi-guo;CHEN Ke-xi(School of Automation,Guangdong University of Technology,Guangzhou 510006,China)
出处
《软件导刊》
2020年第4期125-130,共6页
Software Guide
基金
广东省自然科学基金项目(S2013010013034)。
关键词
领导者
时变时滞
随机非线性
多智能体系统
一致性
leader
time-varying delay
randomly nonlinearities
multi-agent system
consensus
