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中南大学学报(自然科学版)

Journal of Central South University

第48卷    第3期    总第271期    2017年3月

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文章编号:1672-7207(2017)03-0735-07
有领导者线性多智能体系统一致性的分析与设计
盖彦荣1,陈阳舟2,宋学君1,齐耀辉1

(1. 河北师范大学 物理科学与信息工程学院,河北 石家庄,050024;
2. 北京工业大学 城市交通学院,北京,100124
)

摘 要: 研究有向信息拓扑下有领导者线性多智能体系统的一致性分析与设计问题。利用提出的线性变换,将领导者有扰动输入的多智能体系统一致性问题转换为输入到状态稳定性问题。得到有向信息拓扑下有领导者线性多智能体系统达到一致的基于矩阵Hurwitz稳定的判据和误差估计函数,同时设计反馈增益矩阵,并将有领导者多智能体系统的一致性问题扩展到编队控制问题。数值实例验证表明:所得理论具有有效性。

 

关键字: 多智能体系统;有领导者一致性;输入到状态稳定性;一致性判据;编队控制

Consensus analysis and design problem for leader-following linear multi-agent systems
GE Yanrong1, CHEN Yangzhou2, SONG Xuejun1, QI Yaohui1

1. College of Physics Science and Information Engineering, Hebei Normal University, Shijiazhuang 050024, China;
2. College of Metropolitan Transportation, Beijing University of Technology, Beijing 100124, China

Abstract:Consensus analysis and design problem for leader-following linear multi-agent systems (LLMASs) with directed information topology was investigated. A proper linear transformation was proposed to transform the consensus problem of a leader with disturbance inputs to the input-to-state stability problem of a corresponding linear system. Then, a new consensus criterion in terms of Hurwitz stability of matrices was given for LLMASs achieving consensus with directed information topologies, and the tracking error was estimated. Moreover, a design process to determine the feedback gain matrix in the consensus protocol was proposed. Finally, the consensus was extended to the formation control. Numerical examples are given to validate the above theoretical results.

 

Key words: multi-agent systems; leader-following consensus; input-to-state stability; consensus criterion; formation control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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