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时延多智能体系统分组一致性分析

纪良浩 廖晓峰 刘群

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时延多智能体系统分组一致性分析

纪良浩, 廖晓峰, 刘群

Group consensus analysis of multi-agent systems with delays

Ji Liang-Hao, Liao Xiao-Feng, Liu Qun
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  • 研究了拓扑结构为连通无向图与连通二分图的一阶时延多智能系统分别在两类控制协议下的分组一致性问题. 基于广义Nyquist准则与频域控制理论的方法, 分析并得到了多智能体系统渐进分组收敛一致的充分条件. 通过该条件发现系统分组一致性的达到与系统的时延以及智能体间的耦合强度相关.同时, 时延的大小影响着系统的收敛速度与动态性能. 仿真实验的结果进一步验证了理论分析所得结论的正确性.
    In this paper, a new consensus problem is investigated which is group consensus. It contains such consensus problem as a special case that all agents in a network reach a consistent value asymptotically. Consider a dynamic multi-agent system with connected undirected or connected bipartite graph topology and delays, two novel consensus protocols are introduced to solve the group consensus problem. The convergence analysis is discussed and the sufficient condition for system group convergence is obtained based on the frequency-domain analysis and generalized Nyquist criterion, respectively. And we know that the condition of group convergence is only depended on system's time delay and the adjacent weight between the agents, meanwhile, delay can affect the dynamic characteristics of the system. Finally, simulations are provided to demonstrate the effectiveness of our theoretical results.
    • 基金项目: 国家自然科学基金(批准号: 60973114, 61170249)、重庆市科委自然科学基金(批准号: 2009BA2024, cstc2011jjA1320)和重庆大学输配电装备及系统安全与新技术国家重点实验室基金 (批准号: 2007DA10512711206)资助的课题.
    • Funds: Project supported by the National Natural Science Foundation of China (Grant Nos. 60973114, 61170249), the Natural Science Foundation of CQCSTC (Grant Nos. 2009BA2024, cstc2011jjA1320), and the State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing University(Grant No. 2007DA10512711206).
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    Yu J Y, Wang L 2012 International Journal of Systems Science 43 334

    [21]

    Yu J Y, Wang L 2009 Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, December 16-18, 2009, p2652

    [22]

    Yu J Y, Wang L 2010 Systems & Control Letters 59 340

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  • [1]

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

    [2]

    Yu W W, Chen G R, Wang Z D, Yang W 2009 IEEE Trans. on Syst. Man Cybern. 39 1568

    [3]

    Vicsek T, Czirok A, Ben-Jacob E 1995 Phys. Rev. Lett. 75 1226

    [4]

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

    [5]

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

    [6]

    Ren W, Beard R W 2005 IEEE Trans. on Autom. Control 50 655

    [7]

    Moreau L 2005 IEEE Trans. on Autom. Control 50 169

    [8]

    Wang W, Slotine J J E 2006 IEEE Trans. on Autom. Control 51 712

    [9]

    Tan F X, Guan X P, Liu D R 2008 Chin. Phys. B 17 3531

    [10]

    Sun Y Z, Ruan J 2008 Chin. Phys. B 17 4137

    [11]

    Bliman P A, Ferrari-Trecate G 2008 Automatica 44 1985

    [12]

    Tian Y P, Liu C L 2008 IEEE Trans. on Autom. Control 53 2122

    [13]

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

    [14]

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

    [15]

    Tian Y P, Liu C L 2009 Automatica 45 1347

    [16]

    Lin P, Jia Y M 2010 IEEE Trans. on Autom. Control 55 778

    [17]

    Wang Y Z, Zhang C H, Liu Z B 2012 Automatica 10 1016

    [18]

    Xia W G, Gao M 2011 Automatica 11 2395

    [19]

    Yu J Y, Wang L 2009 Proceeding of the 7th Asian Control Conference, Hong Kong, China, August 27-29, 2001, p105

    [20]

    Yu J Y, Wang L 2012 International Journal of Systems Science 43 334

    [21]

    Yu J Y, Wang L 2009 Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, December 16-18, 2009, p2652

    [22]

    Yu J Y, Wang L 2010 Systems & Control Letters 59 340

    [23]

    Wang q, Wang Y Z, Yang R M 2012 Control and Decision 27 1586 (in Chinese) [王强, 王玉振, 杨仁明 2012 控制与决策 27 1586]

    [24]

    Tian Y, Yang H. 2004 Proceedings of the 5th World Congress on Intelligent Control and Automation, Hangzhou, China, June 14-15, 2004 p15

    [25]

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

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出版历程
  • 收稿日期:  2012-04-17
  • 修回日期:  2012-06-10
  • 刊出日期:  2012-11-05

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