摘要
移动多智能体系统的一致性问题是复杂动力学系统中非常有现实意义的问题.在网络通信拓扑固定时,本文基于矩阵分解理论,提出了高阶多智能体系统中的信息流一致性收敛判据,给出了渐近收敛的充分必要条件;在通信拓扑具有最小生成树的前提下,通过构建多输入多输出系统的闭环传递函数,得到了各个阶次的状态量权重系数对收敛稳定性的影响效果,指出只要状态量权重满足Hurwitz稳定条件,即可实现一致性收敛.最后给出数值算例,仿真结果验证了结论的正确性.
Consensus problems for mobile multi-agent systems are practically significant in complicated kinetics systems. While the network communication topology is fixed, based on matrix decomposition theory, information flow consensus criteria is proposed for high-order multi-agent systems, which is a sufficient and necessary condition for asymptotic convergence. Under the as- surnption that the communication topology has a directed spanning tree,closed-loop transfer function is constructed for MIMO sys- tems. Each weight of different state derivatives is analyzed for the influence on convergence stability. If the weights satisfy Hurwitz stability criteria, the system win achieve consensus asyraptoticaUy. Finally, simulation results verify the effectiveness of the conclu- sion.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2012年第12期2466-2471,共6页
Acta Electronica Sinica
基金
国家自然科学基金(No.60974146)
关键词
多智能体系统
高阶系统
信息流
一致性控制
一致性收敛判据
状态量权重
multi-agent systems
htgh-order systems
intormalaon tlow
consensus control
consensus criteria
the weigllt otinformation variable
