多智能体系统实现鲁棒一致的时延相关稳定判据.pdfVIP

第27 卷 第4 期 控 制 与 决 策 2012 年 4 月 Vol. 27 No. 4 Control and Decision Apr. 2012 文章编号: 1001-0920 (2012) 04-0584-09 多智能体系统实现鲁棒一致的时延相关稳定判据 a a,b a 张庆杰 , 沈林成 , 朱华勇 ( 国防科学技术大学 a. 机电工程与自动化学院，b. 研究生院，长沙410073) 摘 要: 考虑存在多个时变时延、有限能量扰动以及时变拓扑结构不确定等网络约束条件, 给出了多智能体系统实 现鲁棒一致性的时延相关稳定判据. 首先, 利用状态分解将原问题转化为讨论不一致向量系统的鲁棒稳定性; 然后, 考虑到多个时变时延和动态拓扑, 采用构造Lyapunov-Krasovskii 泛函的方式分析系统鲁棒稳定性, 并利用自由权矩 阵方法获得关于非线性矩阵不等式(NLMI) 的可行解判据; 最后, 借鉴求解锥补问题的思想, 对NLMI 判据进行非线 性最小化处理, 以得到保守性低、易于求解的LMI 稳定判据. 数值实例和仿真结果均验证了所提出判据的有效性. 关键词: 鲁棒一致性；Lyapunov-Krasovskii 泛函；非线性矩阵不等式；自由权矩阵 中图分类号: TP18 文献标识码: A Delay-dependent stability criteria for robust consensus of multi-agent systems a a,b a ZHANG Qing-jie , SHEN Lin-cheng , ZHU Hua-yong (a. College of Mechatronics Engineering and Automation，b. Graduate School ，National University of Defense Technology ，Changsha 410073，China ．Correspondent ：ZHANG Qing-jie ，E-mail ：nudtzhang@) Abstract ：：：Considering the network restrictions such as multiple time-varying delays, disturbances with limited energy and time-varying topologies uncertainties, the delay-dependent stability criteria for robust consensus of multi-agent systems are proposed. Firstly, by using the idea of state decomposition, the condition for guaranteeing robust consensus is converted into verifying the robust stability of the disagreement systems. Considering multiple time-varying delays and switching topologies, Lyapunov-Krasovskii functional is constructed to analyse the robust stability. By using free-weightin