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针对由一阶智能体和二阶智能体组成的离散异质多智能体系统,研究其一致性问题.设计无通信时延和具有有界通信时延时的分布式一致性协议,通过将系统转化为自治的离散时间线性时不变系统,运用矩阵理论和代数图论方法,分析得到系统实现一致性的充分条件.获得的充分条件与采样周期、控制参数和系统的拓扑结构有关.证明了系统的一致性不受有界通信时延影响.数值仿真结果验证了理论结果的正确性.
Aiming at the consistency problems of discrete heterogeneous multi-agent systems composed of first-order and second-order agents, the design of communication-free delay and distributed consistent protocol with time-delay of bounded communication is proposed, The sufficient conditions for obtaining the consistency of the system are obtained, which are related to the sampling period, the control parameters and the topology of the system. It is proved that The consistency of the system is not affected by the delay of bounded communication.The numerical simulation results verify the correctness of the theoretical results.