讨论带有未知参数的多智能体系统的一致性问题. 假设网络拓扑中领航者是全局可达的,设计带有未知时滞的自适应分布控制,基于 Lyapunov-Krasovskii 泛函, 得到关于线性矩阵不等式的一致性的充分性条件. 该条件保证所有跟随者跟踪领航者的状态,实现状态和参数的一致性. 最后仿真算例验证方法的有效性.

This paper is concerned with the leader-following consensus problem of a group of autonomous agents with unknown parameters. Under the assumption that the leader is globally reachable in the topology graph, distributed robust adaptive controllers with the unknown time-delay are proposed to guarantee that each agent can follow the leader in the presence of unknown parameters. The stability analysis and parameter convergence of the proposed algorithm are performed based on a Lyapunov-Krasovskii function, and the sufficient condition is given to guarantee the consensus in terms of linear matrix inequalities. Finally, examples are provided to validate the theoretical results.