基于大通讯时滞的多智能体系统的控制协议研究
Research on Control Protocol of Multi-Agent System Based on Large Communication Delay
针对具有较大通讯时滞的多智能体系统,提出了一种具有加权项的 时滞状态导数反馈协议,在无向通讯拓扑下,研究了一阶多智能体系统的一致性 与鲁棒性,证明了该协议能够解决时滞过大导致的系统震荡问题.首先利用近似代 换的方法,求出了该反馈协议的具体表达式,并给出了多智能体系统的闭环形式;然后以代 数图论和矩阵理论为工具,在该协议下,证明了系统渐近实现平均一致的充要条件,并指 出了恰当的反馈强度可以有效提高系统的时滞鲁棒性;最后采用数值仿真对结果的有效 性做了验证.
For the multi-agent system with large communication delay, a weighted delay-state-derivative feedback protocol is proposed. Under the undirected communication topology, the consensus and robustness of the first-order multi-agent system are studied, and it is proved that the protocol can solve the problem of system oscillation caused by large delay. Firstly, the expression of the feedback protocol is obtained by using the approximate substitution method, and the closed-loop form of the multi-agent system is given. Then, using algebraic graph theory and matrix theory as tools, the sufficient and necessary conditions for the asymptotic consensus of the system are proved under the protocol, and if we give the appropriate feedback strength, the time-delay robustness of the system can be improved effectively. Finally, the effectiveness of the results is verified by numerical simulation.
多智能体系统 / 一致性 / 鲁棒性 / 通讯时滞. {{custom_keyword}} /
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