基于时变时滞动态拓扑网络的多智能体鲁棒H_一致性控制_刘佳.pdfVIP

Proceedings of the 29th Chinese Control Conference July 29-31, 2010, Beijing, China 基于时变时滞动态拓扑网络的多智能体鲁棒∞ 一致性控制∗ 刘佳, 刘忠信, 陈增强 南开大学自动化系, 天津300071 E-mail: liujia 0704@163.com, lzhx@, chenzq@ 摘 要: 该文研究多智能体系统的鲁棒 一致性控制问题, 针对存在干扰和模型不确定参数的多智能体时变时滞动态 拓扑有向网络给出一致性协议, 并对所提出的一致性协议进行了理论分析, 建立公共的Lyapunov-Krasovskii 泛函, 利用 Lyapunov-Krasovskii 稳定性理论和积分不等式方法, 得到一致性协议收敛的充分条件, 使得所考虑的多智能体系统达到 鲁棒 一致. 最后给出一个数值算例, 验证了所得结论的可行性. 关键词: 多智能体系统, 一致性协议, 控制, 动态拓扑, 时变时滞, 有向网络 Robust ∞ Consensus Control for Multi-agent System with Dynamic Topologies and Time-varying Delays∗ LIU Jia, LIU Zhongxin, CHEN Zengqiang Department of Automation, Nankai University, Tianjin 300071, P. R. China E-mail: liujia 0704@163.com, lzhx@, chenzq@ Abstract: Robust consensus control for multi-agent system is investigated in this paper. Considering the directed networks of agents with disturbances and model uncertainty parameters on dynamic topologies and time-varying delays, the consensus protocol is proposed and analyzed. By constructing a common Lyapunov-Krasovskii functional, employing Lyapunov-Krasovskii theory and integral inequality approach, the sufficient condition of consensus protocol convergency is derived guaranteeing robust consensus for given multi-agent system. Finally, a numerical example is provided to illustrate the effectiveness of the proposed result. Key Words: Multi-Agent System, Consensus Protocol, Control, Dynamic Topologies, Time-Varying Delays, Directed Networks 1 引言(Introduction) 件, 即信息交换图中包含生成树. 近年来, 多智能体系统的协同控制问题已经成为 在实际应用中, 由于网络节点或边的故障、重连、 国内外诸多研究人员关注的热点[1–7]. 其中一个重要 丢包等, 又或者在某些特定场合, 如蜂拥问题、编队控 的原因是多智能体系统的协同控制在许多领域具有十 制问题、次同步问题等, 网络拓扑结构通常