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具有时延和切换拓扑的高阶离散时间多智能体系统鲁棒保性能一致性

徐君 张国良 曾静 孙巧 羊帆

徐君, 张国良, 曾静, 孙巧, 羊帆. 具有时延和切换拓扑的高阶离散时间多智能体系统鲁棒保性能一致性. 自动化学报, 2019, 45(2): 360-373. doi: 10.16383/j.aas.2017.c160758
引用本文: 徐君, 张国良, 曾静, 孙巧, 羊帆. 具有时延和切换拓扑的高阶离散时间多智能体系统鲁棒保性能一致性. 自动化学报, 2019, 45(2): 360-373. doi: 10.16383/j.aas.2017.c160758
XU Jun, ZHANG Guo-Liang, ZENG Jing, SUN Qiao, YANG Fan. Robust Guaranteed Cost Consensus for High-order Discrete-time Multi-agent Systems With Switching Topologies and Time Delays. ACTA AUTOMATICA SINICA, 2019, 45(2): 360-373. doi: 10.16383/j.aas.2017.c160758
Citation: XU Jun, ZHANG Guo-Liang, ZENG Jing, SUN Qiao, YANG Fan. Robust Guaranteed Cost Consensus for High-order Discrete-time Multi-agent Systems With Switching Topologies and Time Delays. ACTA AUTOMATICA SINICA, 2019, 45(2): 360-373. doi: 10.16383/j.aas.2017.c160758

具有时延和切换拓扑的高阶离散时间多智能体系统鲁棒保性能一致性

doi: 10.16383/j.aas.2017.c160758
基金项目: 

国家自然科学基金 61203007

国家自然科学基金 61374054

详细信息
    作者简介:

    徐君  火箭军工程大学博士研究生.主要研究方向为多智能体协同导航与控制.E-mail:junxu1021@126.com

    曾静   火箭军工程大学副教授.主要研究方向为机器人技术, 军事运筹学.E-mail:m15091281454@163.com

    孙巧  火箭军工程大学博士研究生.主要研究方向为视觉跟踪与机器学习.E-mail:seq1211@126.com

    羊帆   火箭军工程大学博士研究生, 宝鸡高新技术研究所工程师.主要研究方向为空间机器人建模与控制.E-mail:y_fanfan@yeah.net

    通讯作者:

    张国良  火箭军工程大学教授.主要研究方向为机器人技术, 先进控制理论与应用.本文通信作者.E-mail:zhgl@sohu.com

Robust Guaranteed Cost Consensus for High-order Discrete-time Multi-agent Systems With Switching Topologies and Time Delays

Funds: 

National Natural Science Foundation of China 61203007

National Natural Science Foundation of China 61374054

More Information
    Author Bio:

      Ph. D. candidate at Rocket Force University of Engineering. His research interest covers multi-agent collaborative navigation and control

      Associate professor at Rocket Force University of Engineering. Her research interest covers robot technology, military operation research

      Ph. D. candidate at Rocket Force University of Engineering. His research interest covers visual tracking and machine learning

      Ph. D. candidate at Rocket Force University of Engineering, and engineer of Baoji Institute of High Technology. His research interest covers space robots modeling and control

    Corresponding author: ZHANG Guo-Liang   Professor at Rocket Force University of Engineering. His research interest covers robot technology, advanced control theory and application. Corresponding author of this paper
  • 摘要: 研究存在参数不确定性的高阶离散时间多智能体系统在时延和联合连通切换通信拓扑条件下的鲁棒保性能一致性问题,给出一种线性一致性协议的设计方法.1)引入高阶离散时间不确定多智能体系统的鲁棒保性能一致性问题,定义基于智能体邻居状态误差和控制输入的保性能函数;2)通过构造合适的Lyapunov函数并利用离散时间系统稳定性理论,推导出一个使高阶离散时间不确定多智能体系统在该条件下获得保性能一致性的线性矩阵不等式(Linear matrix inequality,LMI)充分条件,并给出相应的保性能上界;3)以一致性序列的形式给出参数不确定条件下的高阶离散时间多智能体系统的一致性收敛结果;4)数值仿真验证了本文理论的正确性和有效性.
    1)  本文责任编委 夏元清
  • 图  1  多智能体系统(1)的通信拓扑$G$

    Fig.  1  the interaction topology $G$ of multi-agent system (1)

    图  2  状态${{\pmb{x}}}_{i1}$在参数${r_j} (j = 1, 2, 3)$变化前后的状态轨迹

    Fig.  2  Comparison of state trajectories of ${{\pmb{x}}}_{i1}$ before and after parameters ${r_j}~(j = 1, 2, 3)$ change

    图  3  状态${{\pmb{x}}}_{i2}$在参数${r_j}~(j = 1, 2, 3)$变化前后的状态轨迹

    Fig.  3  Comparison of state trajectories of ${{\pmb{x}}}_{i2}$ before and after parameters ${r_j}~(j = 1, 2, 3)$ change

    图  4  状态${{\pmb{x}}}_{i3}$在参数${r_j}~(j = 1, 2, 3)$变化前后的状态轨迹

    Fig.  4  Comparison of state trajectories of ${{\pmb{x}}}_{i3}$ before and after parameters ${r_j}~(j = 1, 2, 3)$ change

    图  5  保性能代价轨迹图

    Fig.  5  Trajectories of cost

    图  6  多智能体系统(1)的通信拓扑切换信号$\sigma (k)$

    Fig.  6  The switching signal $\sigma (k)$ of multi-agent system (1)

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出版历程
  • 收稿日期:  2016-11-07
  • 录用日期:  2017-03-21
  • 刊出日期:  2019-02-20

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