基于大通讯时滞的多智能体系统的控制协议研究

晋守博,李耀红,魏章志

系统科学与数学 ›› 2020, Vol. 40 ›› Issue (9) : 1531-1538.

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PDF(530 KB)
系统科学与数学 ›› 2020, Vol. 40 ›› Issue (9) : 1531-1538. DOI: 10.12341/jssms13962
论文

 基于大通讯时滞的多智能体系统的控制协议研究

    晋守博,李耀红,魏章志
作者信息 +

Research on Control Protocol of Multi-Agent System Based on Large Communication Delay

    JIN Shoubo ,LI Yaohong ,WEI Zhangzhi
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摘要

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.

Abstract

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.

关键词

多智能体系统 / 一致性 / 鲁棒性 / 通讯时滞.

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晋守博 , 李耀红 , 魏章志.  基于大通讯时滞的多智能体系统的控制协议研究. 系统科学与数学, 2020, 40(9): 1531-1538. https://doi.org/10.12341/jssms13962
JIN Shoubo , LI Yaohong , WEI Zhangzhi. Research on Control Protocol of Multi-Agent System Based on Large Communication Delay. Journal of Systems Science and Mathematical Sciences, 2020, 40(9): 1531-1538 https://doi.org/10.12341/jssms13962
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