受外界干扰的离散多智能体系统的均方有界一致性.PDFVIP

第33 卷第3 期 控制 理 论 与 应 用 Vol. 33 No. 3 2016 年3 月 Control Theory Applications Mar. 2016 DOI: 10.7641/CTA.2016.50235 受受受外外外界界界干干干扰扰扰的的的离离离散散散多多多智智智能能能体体体系系系统统统的的的均均均方方方有有有界界界一一一致致致性性性 莫立坡, 潘婷婷 (北京工商大学理学院, 北京100048) 摘要: 对有外界干扰的二阶离散多智能体系统, 研究了在马尔可夫切换拓扑结构下的均方有界一致性问题. 首先, 设计了一个带有智能体位置和速度信息的控制协议. 其次, 在随机有界干扰的情况下, 借助于矩阵分析方法以 及Lyapunov 函数, 得到了闭环系统实现均方有界一致所需的代数条件, 同时给出了各智能体状态误差的上界. 最后, 数值仿真验证了理论结果的有效性. 关键词: 离散多智能体系统; 随机有界干扰; 马尔可夫切换; 一致性 中图分类号: TP273 文献标识码: A Mean-square bounded consensus of discrete-time multi-agent systems with external disturbance MO Li-po, PAN Ting-ting (School of Science, Beijing Technology and Business University, Beijing 100048, China) Abstract: This paper deals with the mean-square bounded consensus problem of second-order discrete-time multi-agent systems with stochastic bounded external disturbance under Markovian switching topological structures. Firstly, a control protocol is designed, which is based on the position and velocity information of each agent. Secondly, in the case of stochastic bounded external disturbance, the algebraic conditions for the closed-loop system to achieve the mean-square bounded consensus are obtained by using the methods of matrix analysis and Lyapunov function. Simultaneously, the upper bound of each agent state error is also given. Finally, numerical simulations are given to illustrate the effectiveness of the theoretical results. Key words: discrete-time multi-agent systems; stochastic bounded disturbance; Markovian switching; consensus 1 引引引言言言(Introduction) 系统的构造进一步复杂化, 针对由不同