异质多智能体系统滞后一致性跟踪控制

doi:10.11772/j.issn.1001-9081.2018051051

计算机应用 ›› 2018, Vol. 38 ›› Issue (12): 3385-3390.DOI: 10.11772/j.issn.1001-9081.2018051051

异质多智能体系统滞后一致性跟踪控制

李耿, 秦雯, 王婷, 汪辉, 沈谋全

南京工业大学电气工程与控制科学学院, 南京 211816

收稿日期:2018-05-21 修回日期:2018-07-17 发布日期:2018-12-15 出版日期:2018-12-10
通讯作者: 秦雯
作者简介:李耿(1993-),男,江苏常州人,硕士研究生,主要研究方向:多智能体系统协调控制;秦雯(1985-),女,河南鹤壁人,讲师,博士,主要研究方向:多智能体系统建模与控制、非线性系统控制、切换脉冲系统的稳定性;王婷(1981-),女,陕西西安人,讲师,博士,主要研究方向:机器人认知与控制、多机器人编队控制。
基金资助:
江苏省自然科学基金资助项目（BK20171019）。

Lag consensus tracking control for heterogeneous multi-agent systems

LI Geng, QIN Wen, WANG Ting, WANG Hui, SHEN Mouquan

College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing Jiangsu 211816, China

Received:2018-05-21 Revised:2018-07-17 Online:2018-12-15 Published:2018-12-10
Contact: 秦雯
Supported by:
This work is partially supported by the Natural Science Foundation of Jiangsu Province (BK20171019).

摘要/Abstract

摘要： 针对一阶、二阶混合异质多智能体系统的滞后一致性问题，提出了一种基于牵制控制的分布式滞后一致性控制协议。首先，将滞后一致性分析转化为稳定性证明；然后，利用图论和Lyapunov稳定性理论分析闭环系统稳定性；最后，分别在固定拓扑和切换拓扑结构下给出了基于线性矩阵不等式（LMI）形式的滞后一致性可解的充分条件，从而实现异质多智能体的领导-跟随者滞后一致性。数值仿真结果表明，所提出的滞后一致性控制方法可以使异质多智能体系统实现领导-跟随者滞后一致性。

关键词: 异质多智能体系统, 滞后一致性, 领导-跟随者, 切换拓扑, Lyapunov 函数

Abstract: Aiming at the lag consensus problem of first-order and second-order hybrid heterogeneous multi-agent systems, a distributed lag consensus control protocol based on pinning control was proposed. Firstly, the lag consensus analysis was transformed into stability verification. Then, the stability of closed loop system was analyzed by using graph theory and Lyapunov stability theory. Finally, the sufficient conditions for solvability of lag consensus based on Linear Matrix Inequality (LMI) were given under fixed and switching topologies respectively, so that leader-follower lag consensus of heterogeneous multi-agent system was achieved. The numerical simulation results show that, the proposed lag consensus control method can make the heterogeneous mult-agent systems achieve leader-follower lag consensus.

Key words: heterogeneous multi-agent system, lag consensus, leader-follower, switching topology, Lyapunov function

中图分类号:

TP13
TP18

李耿, 秦雯, 王婷, 汪辉, 沈谋全. 异质多智能体系统滞后一致性跟踪控制[J]. 计算机应用, 2018, 38(12): 3385-3390.

LI Geng, QIN Wen, WANG Ting, WANG Hui, SHEN Mouquan. Lag consensus tracking control for heterogeneous multi-agent systems[J]. Journal of Computer Applications, 2018, 38(12): 3385-3390.

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异质多智能体系统滞后一致性跟踪控制

Lag consensus tracking control for heterogeneous multi-agent systems

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