基于二部图的多智能体系统加权分组一致性

• 作 者: 何英高 王翔宇
• 机 构: 无锡工艺职业技术学院,东南大学自动化学院,
• 出 处: 系统科学与数学
• 发表日期: 2017年04期
• 关键词: 多智能体系统 二部图 圆盘定理 Nyquist准则 一致性 时延 上界 数值仿真 智能体 当前状态

针对拓扑结构为二部图的多智能体系统,设计了由当前状态和时延状态不同权重构成的控制算法,通过采用频域控制理论中广义Nyquist准则和Gerschgorin圆盘定理,给出了多智能体系统实现加权分组一致性的充分条件.提出多智能体时延最大上界与权重参数具有单调递减函数关系,为改进加权分组一致性的最大时延上界提供了可行方法.最后通过数值仿真验证了结论的正确性.

Aiming at the multi-agent system with topological structure of bipartite graph, a control algorithm with different weights of current state and delay state is designed. By using generalized Nyquist criterion and Gerschgorin disc theorem in frequency domain control theory, The sufficient condition for the system to achieve the consistency of weighted groupings is proposed.The maximum upper bound of multi-agent delay and the monotone decreasing function of weight parameters are proposed, which provides a feasible method for improving the upper bound of the maximum delay of weighted group consistency.Finally, Verify the correctness of the conclusion.