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针对不确定二阶离散多智能体系统,研究了其在马尔可夫切换拓扑结构下的鲁棒最优一致性问题.基于智能体的邻居信息设计了控制协议,使得多智能体系统在满足保代价性能指标下最终趋于一致.利用线性矩阵不等式理论以及Lyapunov方法,得到了系统实现均方一致所需要的条件,并且证明了所有智能体的状态最终收敛到其初始状态平均值.进一步,设计了一个保代价性能指标,研究了系统在满足该性能指标下的一致性问题,得到了系统实现均方一致的条件.最后,通过数值仿真实例验证了所得结论的有效性.
Aiming at the uncertain second-order discrete multi-agent system, the robust optimal consistency problem under Markov switching topology is studied. The control protocol is designed based on the neighbor information of the agent so that the multi- And the cost performance index finally converges.Using the theory of linear matrix inequality and the Lyapunov method, the conditions for the system to achieve uniform mean square are obtained, and it is proved that the states of all the agents eventually converge to the average of their initial states.Furthermore, A guaranteed cost performance index is studied, and the consistency of the system under the performance index is studied, and the conditions for the system to be uniform are obtained.Finally, numerical examples are used to verify the validity of the conclusion.