时延异构多自主体系统群一致性分析.docVIP

时延异构多自主体系统群一致性分析 　　摘要：针对由一阶自主体和二阶自主体构成的异构多自主体系统的静态群一致性问题，分别提出了在固定连接拓扑和切换连接拓扑结构下的静态群一致性算法。通过构造LyapunovKrasovskii 函数，得到了系统在具有相同时变通信时延的群一致性算法作用下渐近收敛群一致的充分条件，并以线性矩阵不等式表示。最后，仿真结果表明， 所提算法在满足一定条件下能使时延异构多自主体系统渐近收敛群一致。 　　关键词：异构多自主体系统；群一致性；时变通信时延；切换拓扑 　　中图分类号：TP273 文献标志码：A 　　Abstract：Concerning the stationary group consensus problem for the heterogeneous multiAgent systems， which are composed of firstorder Agents and secondorder Agents， two stationary group consensus protocols were proposed under fixed interconnection topology and switching interconnection topologies respectively. By constructing L