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研究普通线性多智能体系统在有向拓扑结构下的一致性问题,提出一种基于分布式PID控制的新的一致性协议.˙先通过变量转换将一致性问题转变为误差系统的渐近稳定问题;然后构造Lyapunov函数,基于线性矩阵不等式(LMI)给出系统实现一致性的充分条件;最后通过仿真与纯比例控制作了比较.仿真结果表明,系统的结构拓扑图在存在全局可达节点的条件下,通过选择合适的PID参数,可克服噪声的干扰,缩短系统的收敛时间.
In this paper, we study the consistency of generic linear multi-agent systems in a directed topology and propose a new consensus protocol based on distributed PID control. First, the problem of consistency is transformed to the asymptotic stability of the error system Then the Lyapunov function is constructed and the sufficient conditions for the consistency of the system are given based on the linear matrix inequality (LMI). Finally, the simulation is compared with the pure proportional control method. The simulation results show that the topology of the system can be obtained in the presence of globally reachable nodes By selecting the appropriate PID parameters, we can overcome the noise interference and shorten the system convergence time.