摘要
本文针对一类存在输入时延的非线性多智能体系统,研究了其在结构平衡的无向符号图下的固定时间二分一致性问题.首先,本文针对智能体间相互合作与相互竞争的关系,设计了一类存在输入时延的多智能体系统固定时间分布式一致性控制协议,使得系统状态在固定时间内收敛到数值相同但符号相反的两个值,且收敛时间上界与初始状态无关.随后,利用Lyapunov稳定性理论和代数图论给出了在存在输入时延的情况下多智能体系统实现固定时间二分一致性的充分条件和收敛时间的上界值,证明了控制算法的稳定性.最后,仿真实例验证了所提固定时间二分一致性算法和理论结果的有效性.
In this paper,the fixed-time bipartite consensus problem is investigated for a class of nonlinear multi-agent systems with input delay under an undirected signed graph,and the signed graph is structurally balanced.Firstly,a fixedtime distributed consensus control protocol of multi-agent systems with input delay is designed for the cooperation and competition behaviors among agents,which guarantees the system states converge to two same values but opposite signs in a fixed time,and the upper bound of convergence time is independent of the initial states.Then,the sufficient conditions are proposed for the multi-agent systems to achieve the fixed-time bipartite consensus with input delay by using the Lyapunov stability theory and algebraic graph theory,and the stability of the control algorithm is proved.Meanwhile,the upper bound of convergence time is given.Finally,the effectiveness of the proposed fixed-time bipartite consensus algorithm and the theoretical analysis results are illustrated by the simulation examples.
作者
王啸
刘剑
武永宝
孙长银
WANG Xiao;LIU Jian;WU Yong-bao;SUN Chang-yin(School of Cyber Science and Engineering,Southeast University,Nanjing Jiangsu 211189,China;School of Automation,Southeast University,Nanjing Jiangsu 210096,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2023年第2期204-211,共8页
Control Theory & Applications
基金
科技部“2030–人工智能专项”重大项目(2018AAA0101400)
国家自然科学基金项目(61921004,62103099)
江苏省前沿引领技术基础研究专项项目(BK20202006)资助。
