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研究了带有时滞的二阶多智能体系统的领导跟随一致性问题.所给定的领导者不仅位置和速度保持变化,而且带有时滞.首先,为了跟踪这样一个具有非线性动态的领导者,对于每一个智能体给出了基于邻域的分布式控制器,基于Lyapunov-Razumikhin理论,获得了二阶多智能体系统达到领导跟随一致性的充分条件.另外,讨论了领导者和每个智能体都不具有非线性动态的一致性问题,得到了使得多智能体系统达到一致性的充分条件.最后,给出的仿真结果表明了所获定理的有效性.
This paper studies the problem of leadership following consistency for second-order multi-agent systems with time delays. The given leader not only keeps the position and velocity changing but also delays. First, in order to track such a leader with nonlinear dynamics, Based on the Lyapunov-Razumikhin theory, a sufficient condition for the second-order multi-agent systems to achieve leadership following consistency is given. In addition, the leaders and each All the agents do not have the problem of nonlinear dynamic consistency, and the sufficient conditions for the consistency of the multi-agent systems are obtained. Finally, the simulation results show the validity of the obtained theorems.