《计算机应用研究》|Application Research of Computers

具有通信时延的二阶多智能体系统有限时间一致性跟踪控制

Finite-time consensus control for second-order multi-agent systems with communication delays

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作者 崔艳,李庆华
机构 山西师范大学 物理与信息工程学院,山西 临汾 041000
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文章编号 1001-3695(2020)11-007-3236-05
DOI 10.19734/j.issn.1001-3695.2019.07.0287
摘要 针对具有通信时延的二阶多智能体系统的有限时间一致性控制问题,分别研究了具有固定拓扑和切换拓扑网络结构情形下的二阶多智能体系统的有限时间一致性。为使多智能体系统能在有限时间内可以达到一致,引入一致性控制增益矩阵并设计了相应的基于相对位置和相对速度的时延状态误差有限时间一致性控制算法,利用系统模型转换,泛函微分方程稳定性理论和有限时间Lyapunov稳定性定理得到了使系统在有限时间内达到一致跟踪的最大时延上界值。最后,仿真实验结果验证了所得理论的正确性和有效性。
关键词 有限时间一致性; 二阶多智能体系统; 通信时延; 一致性增益矩阵
基金项目 国家自然科学基金资助项目(61503231)
本文URL http://www.arocmag.com/article/01-2020-11-007.html
英文标题 Finite-time consensus control for second-order multi-agent systems with communication delays
作者英文名 Cui Yan, Li Qinghua
机构英文名 College of Physics & Information Technology,Shanxi Normal University,Linfen Shanxi 041000,China
英文摘要 This paper proposed the finite-time consensus control problem of second-order multi-agent system with communication delays, and discussed the finite-time consensus problem of communication delays in the second-order multi-agent system under fixed topology and switching topology network. In order to achieve the consensus of multi-agent systems in finite time, it introduced a consensus control gain matrix and designed a corresponding finite-time consensus control algorithm based on relative position and relative velocity delay error. It used the system model conversion, the stability theory of functional differential equations and the finite-time Lyapunov stability theorem to obtain. The system reached the upper bound of the maximum delay for consensus tracking in finite time. Finally, the simulation results verify the correctness and effectiveness of the obtained theory.
英文关键词 finite-time consensus; second-order multi-agent systems; communication delays; consensus gain matrix
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收稿日期 2019/7/3
修回日期 2019/9/11
页码 3236-3240
中图分类号 TP273
文献标志码 A