一类异构多智能体系非线性协议下的一致性分析

doi:10.11772/j.issn.1001-9081.2015.01.0136

计算机应用 ›› 2015, Vol. 35 ›› Issue (1): 136-139.DOI: 10.11772/j.issn.1001-9081.2015.01.0136

一类异构多智能体系非线性协议下的一致性分析

孙一杰^1,2, 张国良¹, 张胜修¹

1. 第二炮兵工程大学三系, 西安710025;
2. 96211部队，云南红河654300

收稿日期:2014-08-18 修回日期:2014-09-23 发布日期:2015-01-26 出版日期:2015-01-01
通讯作者: 孙一杰
作者简介:孙一杰(1986-),男,云南大理人,博士研究生,主要研究方向:先进控制、多机器人协同控制;张国良(1970-),男,四川金堂人,教授,博士生导师,主要研究方向:先进控制、机器人;张胜修(1963-),男,陕西西安人,教授,博士生导师,主要研究方向:组合导航与飞行器制导控制.
基金资助:
陕西省自然科学基金资助项目(2012K06-45).

Consensus analysis for a class of heterogeneous multi-Agent systems via nonlinear protocols

SUN Yijie^1,2, ZHANG Guoliang¹, ZHANG Shengxiu¹

1. Department No. 3, The Second Artillery Engineering University, Xi'an Shaanxi 710025, China;
2. Unit 96211, Honghe Yunnan 654300, China

Received:2014-08-18 Revised:2014-09-23 Online:2015-01-26 Published:2015-01-01

摘要/Abstract

摘要：

针对一阶、二阶混合异构多智能体系统一致性问题研究中,存在状态不可测和系统最终仅可以获得静态一致性的问题,提出了一种具有参考速度的非线性一致性协议.在此基础上,首先,将一致性分析转化为稳定性证明;然后,构造李亚普诺夫函数;最后,基于李亚普诺夫稳定性理论和拉塞尔不变集原理,分析得出了该异构系统获得一致性的充分条件.仿真结果表明,满足文中的条件,系统在所提出的协议下获得了一致性.

关键词: 异构多智能体系统, 非线性一致性协议, 参考速度, 图论, 李亚普诺夫稳定性理论

Abstract:

To solve the problem that the state of Agents is immeasurable and only the stationary consensus can be achieved in heterogeneous multi-Agent systems composed of first-order and second-order Agents, a novel nonlinear consensus protocol with reference velocity was proposed. Firstly, consensus analysis was transformed to stability demonstration. Then, the Lyapunov function was constructed. Finally, the sufficient conditions for achieving consensus were obtained by using Lyapunov stability theory and LaSalle's invariance principle. The simulation results show that if the conditions can be satisfied, the consensus can be achieved.

Key words: heterogeneous multi-Agent system, nonlinear consensus protocol, reference velocity, graph theory, Lyapunov stability theory

中图分类号:

TP242

孙一杰, 张国良, 张胜修. 一类异构多智能体系非线性协议下的一致性分析[J]. 计算机应用, 2015, 35(1): 136-139.

SUN Yijie, ZHANG Guoliang, ZHANG Shengxiu. Consensus analysis for a class of heterogeneous multi-Agent systems via nonlinear protocols[J]. Journal of Computer Applications, 2015, 35(1): 136-139.

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一类异构多智能体系非线性协议下的一致性分析

Consensus analysis for a class of heterogeneous multi-Agent systems via nonlinear protocols

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