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领导-跟随多智能体系统的滞后一致性

谢媛艳 王毅 马忠军

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领导-跟随多智能体系统的滞后一致性

谢媛艳, 王毅, 马忠军

Delay consensus of leader-following multi-agent systems

Xie Yuan-Yan, Wang Yi, Ma Zhong-Jun
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  • 近年来,随着应用的需要和技术的发展,多智能体系统的一致性逐渐成为研究热点. 在通信网络和工程应用中,由于信号传播的延迟效应,系统中智能体的状态可能表现为滞后一致. 本文提出多智能体系统的滞后一致性概念,研究了有向网络环境下一阶领导-跟随多智能体系统的滞后一致性问题. 通过设计合适的控制协议,利用矩阵理论和稳定性理论,获得该系统达到滞后一致的充分条件. 数值模拟验证了理论结果的正确性.
    In recent years, there has been the increasing interest in the research on the consensus of multi-agent systems because of the need of application and the development of technology. In communication networks and engineering applications, due to signal propagation delays, time delay may exist in the consensus state of systems. In this paper, a concept on delay consensus is first defined, and then the problem of first-order delay consensus in leader-following multi-agent systems is discussed. By designing an appropriate control protocol and using the graph theory, matrix theory and Lyapunov stability theory, a sufficient condition is given to realize delay consensus of the multi-agent systems. Numerical simulations are given to verify the theoretical results.
    • 基金项目: 国家自然科学基金(批准号:11271009, 11162004)和广西自然科学基金(批准号:2013GXNSFAA019006)资助的课题.
    • Funds: Project supported by the National Natural Science Foundation of China (Grant Nos. 11271009, 11162004) and the Natural Science Foundation of Guangxi, China (Grant No. 2013GXNSFAA019006).
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    Stankovic J A, Abdelzaher T E, Lu C 2003 Proc. IEEE 91 1002

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    Olfati-Saber R, Murray R M 2004 IEEE Trans. Autom. Control 49 1520

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    Wang W, Slotins J 2006 IEEE Trans. Autom. Control 51 413

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    Yu Y B, Bao J F, Zhang H B, Zhong Q S, Liao X F, Yu J B 2008 Chin. Phys. B 17 2377

    [23]

    Liu C L, Liu F 2011 Acta Phys. Sin. 60 030202 (in Chinese) [刘成林, 刘飞 2011 物理学报 60 030202]

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    Mu S M, Chu T G, Wang L 2005 Physica A 351 211

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    Ji L H, Liao X F 2012 Acta Phys. Sin. 61 150202 (in Chinese) [纪良浩, 廖晓峰 2012 物理学报 61 150202]

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    Ren W 2007 Sys. Control Lett. 56 474

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    Yu W W, Ren W, Zheng W X, Chen G R, L J H 2013 Automatica 49 2107

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    Yang H Y, Tian S W, Zhang S Y 2011 Acta Electron. Sin. 39 872 (in Chinese) [杨洪勇, 田生文, 张嗣瀛 2011 电子学报 39 872]

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  • [1]

    Eyre J, Yanakiev D, Kanellakopoulos I 1998 Veh. Sys. Dyn. 30 375

    [2]

    Yeh H, Nelson E, Sparks A 2002 AIAA J. Guidance Control Dynamics 25 376

    [3]

    Vicsek T, Cziroo'k A, Ben-Jacob E, Cohen I, Shochet O 1995 Phys. Rev. Lett. 75 1226

    [4]

    Yin S, Ding S, Haghani A, Hao H Y, Zhang P 2012 J. Proc. Control 22 1567

    [5]

    Li Z, Duan Z, Chen G, Huang L 2010 IEEE Trans. Circ. Sys. I: Regular Papers 57 213

    [6]

    Yin S, Luo H, Ding S 2014 IEEE Trans. Industr. Electron. 61 2402

    [7]

    Yin S, Ding S, Haghani A, Hao H Y 2013 Int. J. Sys. Sci. 44 1366

    [8]

    Liu T L, Huang H J 2007 Acta Phys. Sin. 56 6321 (in Chinese) [刘天亮, 黄海军 2007 物理学报 56 6321]

    [9]

    Qi W, Xu X J, Wang Y H 2009 Chin. Phys. B 18 4217

    [10]

    Zhang C X, Li H, Lin P 2008 Chin. Phys. B 17 4458

    [11]

    Li Y M, Guan X P 2009 Chin. Phys. B 18 3355

    [12]

    Chen D L, Zhang W D 2008 Chin. Phys. B 17 1506

    [13]

    Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777

    [14]

    Porfiri M, Roberson D G, Stilwell D J 2007 Automatica 43 1318

    [15]

    Fax J A, Murray R M 2004 IEEE Trans. Autom. Control 49 1455

    [16]

    Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401

    [17]

    Sinopoli B, Schenato L, Franceschetti M, Poola K, Jordan M I, Sastry S S 2004 IEEE Trans. Autom. Control 49 1453

    [18]

    Stankovic J A, Abdelzaher T E, Lu C 2003 Proc. IEEE 91 1002

    [19]

    Su H S, Wang X F, Lin Z L 2009 IEEE Trans. Autom. Control 54 293

    [20]

    Olfati-Saber R, Murray R M 2004 IEEE Trans. Autom. Control 49 1520

    [21]

    Wang W, Slotins J 2006 IEEE Trans. Autom. Control 51 413

    [22]

    Yu Y B, Bao J F, Zhang H B, Zhong Q S, Liao X F, Yu J B 2008 Chin. Phys. B 17 2377

    [23]

    Liu C L, Liu F 2011 Acta Phys. Sin. 60 030202 (in Chinese) [刘成林, 刘飞 2011 物理学报 60 030202]

    [24]

    Mu S M, Chu T G, Wang L 2005 Physica A 351 211

    [25]

    Ji L H, Liao X F 2012 Acta Phys. Sin. 61 150202 (in Chinese) [纪良浩, 廖晓峰 2012 物理学报 61 150202]

    [26]

    Ren W 2007 Sys. Control Lett. 56 474

    [27]

    Jadbabaie A, Lin J, Morse A S 2003 IEEE Trans. Autom. Control 48 988

    [28]

    Zhu W, Cheng D Z 2010 Automatica 46 1994

    [29]

    Yu W W, Ren W, Zheng W X, Chen G R, L J H 2013 Automatica 49 2107

    [30]

    Yang H Y, Tian S W, Zhang S Y 2011 Acta Electron. Sin. 39 872 (in Chinese) [杨洪勇, 田生文, 张嗣瀛 2011 电子学报 39 872]

    [31]

    Lin Q, Wu X F 2011 J. Naval Univ. Engineer. 23 1 (in Chinese) [林茜, 吴晓锋 2011 海军工程大学学报 23 1]

    [32]

    Peng K, Yang Y P 2009 Physica A 388 193

计量
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  • PDF下载量:  786
  • 被引次数: 0
出版历程
  • 收稿日期:  2013-10-02
  • 修回日期:  2013-10-31
  • 刊出日期:  2014-02-05

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