关键词: 时变参考输入, 多自主体系统, 比例—积分算法, 量化, 强连通平衡拓扑

Abstract: The dynamic average-consensus tracking problem of multi-agent systems with time-varying reference inputs was investigated, and proposed a proportional-integral consensus tracking algorithm. In the context of communication data between multi-agents was quantized, the average consensus tracking problem based on quantization was studied. On the basis of the integral algorithm, a proportional link was introduced to make agents track the average value of the reference inputs better by communicating with neighborhood agents under the constraints of the control agreement. Under the fixed, balanced and strongly connected topology, sufficient conditions are obtained based on the matrix analysis and Routh Criteria for the multi-agent system converging to the average value of time-varying reference inputs without and with quantized information transmission data respectively. Finally, numerical simulations verified the accuracy of the results and confirm the effectiveness of the algorithm.

Key words: time-varying reference inputs, multi-agent systems, proportional-integral algorithm, quantization, strongly connected and balanced topology