一类多智能体系统分组一致控制协议的设计与分析-控制与决策.PDFVIP

第28 卷 第3 期 控 制 与 决 策 2013 年 3 月 Vol. 28 No. 3 Control and Decision Mar. 2013 文章编号: 1001-0920 (2013) 03-0369-05 一类多智能体系统分组一致控制协议的设计与分析 王 强, 王玉振, 杨仁明 ( 山东大学控制科学与工程学院，济南250061) 摘 要: 在连通二部图拓扑结构下, 针对一阶多智能体系统, 研究了时滞和无时滞两种情形下系统的分组一致问题, 给出了一个基于竞争的控制协议设计方法. 首先, 根据二部图的特性设计控制协议, 研究了无时滞系统的分组一致问 题, 给出了该情形下系统的收敛状态; 其次, 研究了时滞情形下系统的分组一致问题, 给出了系统实现分组一致时所 能容许的最大时滞; 最后, 通过仿真实例验证了所提出方法的正确性. 关键词: 多智能体系统；二部图；分组一致；空间分解 中图分类号: TP273 文献标志码: A Design and analysis of group-consensus protocol for a class of multi-agent systems WANG Qiang, WANG Yu-zhen, YANG Ren-ming (School of Control Science and Engineering，Shandong University，Ji’nan 250061 ，China. Correspondent ：WANG Qiang，E-mail ：q.wang@mail.sdu.edu.cn) Abstract ：：：Under the connected bipartite graph topology, the group-consensus protocol design problem is investigated for a class of first-order multi-agent systems with and without time delay respectively, and several new results are presented. Firstly, based on the properties of the bipartite graph, a control protocol is designed and the group-consensus problem is studied for the systems without time delay, and the final convergence states are given with respect to the initial conditions. Then, the group-consensus problem of the systems with time delay is investigated, and the maximum allowed delay is obtained. Finally, the simulation result shows the correctness of the proposed method. Key words ：：：multi-agent systems ；bipartite graph ；group consensus ；state-space decomposition 0 引引引 言言言 根据所得到的信息调整自身状态, 最终使得各个智能 多智能体系统是分布式系统的一个重要分支, 各 体的某种特征趋于一致, 如鸟群和多个机器人的编队