引用本文:翟文彪,李宏鹏,贾新春,王忠宝.基于采样数据的多智能体系统预设时间保序一致性[J].控制理论与应用,2026,43(5):1001~1010.[点击复制]
ZHAI Wen-biao,LI Hong-peng,JIA Xin-chun,WANG Zhong-bao.Prescribed-time order-preserved consensus of multi-agent systems based on sampled data[J].Control Theory & Applications,2026,43(5):1001~1010.[点击复制]
基于采样数据的多智能体系统预设时间保序一致性
Prescribed-time order-preserved consensus of multi-agent systems based on sampled data
摘要点击 393  全文点击 28  投稿时间：2024-07-05  修订日期：2025-11-20
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DOI编号  10.7641/CTA.2025.40357
  2026,43(5):1001-1010
中文关键词  多智能体系统  预设时间保序一致性  采样机制
英文关键词  multi-agent systems (MASs)  prescribed-time order-preserved consensus  sampling mechanisms
基金项目  国家自然科学基金项目(62373231), 国家自然科学基金区域创新发展联合基金重点项目(U24A20261)资助.
作者单位E-mail
翟文彪 山西大学自动化与软件学院 zwbcp3@163.com 
李宏鹏 山西大学数学与统计学院  
贾新春* 山西大学自动化与软件学院 xchjia@sxu.edu.cn 
王忠宝 山西大学自动化与软件学院  
中文摘要
      本文研究了基于采样数据的多智能体系统(MASs)预设时间保序一致性问题, 其中考虑了无领导者与领导– 跟随MASs. 为避免智能体之间连续通信, 节约有限的计算资源, 本文将采样机制引入MASs预设时间保序一致性中. 首先, 通过权重向量, 将智能体由多维转化为一维, 并对其初始状态排序; 其次, 在预设时间前后对智能体采取不同 采样周期, 减少通信带宽的占用; 然后, 根据单调系统理论, 提出基于时基生成器(TBG)和采样数据的预设时间保序 控制器. 使用李雅普诺夫稳定性理论与代数图论, 得到MASs预设时间保序一致性充分条件, 并给出预设时间前后 采样周期上界的显式表达式; 最后, 通过仿真示例验证了理论结果的有效性.
英文摘要
      In this paper, the prescribed-time order-preserved consensus problem of multi-agent systems (MASs) based on sampled data is studied, where both leaderless and leader-following MASs are considered. To avoid continuous communication among agents and to save limited computational resources, this paper introduces sampling mechanisms into the prescribed-time order-preserved consensus of MASs. Firstly, agents are transformed from arbitrary dimension to one dimension using weight vectors and their initial states are ordered. Secondly, two different sampling periods are adopted respectively for each agent during and after the prescribed time to reduce the occupation of communication bandwidth. Then, according to the monotone system theory, prescribed-time order-preserved controllers are proposed based on the time base generator (TBG) and sampled data. Using the Lyapunov stability theorem and algebraic graph theory, sufficient conditions are obtained for the prescribed-time order-preserved consensus of MASs, and the explicit upper bounds of the sampling periods during and after the prescribed time are given. Finally, simulation results are used to verify the effectiveness of the theoretical results.