| 引用本文: | 孙一杰,张国良,张胜修,曾静.一类异构多智能体系统一致性协议的收敛性分析[J].控制理论与应用,2014,31(11):1524~1529.[点击复制] |
| SUN Yi-jie,ZHANG Guo-liang,ZHANG Sheng-xiu,ZENG Jing.Convergence analysis for consensus protocol of heterogeneous multi-agent systems[J].Control Theory and Technology,2014,31(11):1524~1529.[点击复制] |
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| 一类异构多智能体系统一致性协议的收敛性分析 |
| Convergence analysis for consensus protocol of heterogeneous multi-agent systems |
| 摘要点击 3370 全文点击 1447 投稿时间：2013-06-08 修订日期：2014-07-01 |
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| DOI编号 10.7641/CTA.2014.30577 |
| 2014,31(11):1524-1529 |
| 中文关键词 异构多智能体系统 一致性 图论 矩阵分析 |
| 英文关键词 heterogeneous multi-agent systems consensus graph theory matrix analysis |
| 基金项目 陕西省自然科学基金资助项目(2012K06--45). |
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| 中文摘要 |
| 针对一阶二阶智能体组成的异构多智能体系统, 采用了一种线性一致性协议, 基于图论和矩阵分析的方法对一致性协议的收敛性进行研究, 得出了一致性协议最终收敛值的表达式, 并给出了收敛区间, 通过参数优化设置可以实现系统收敛到该区间内任意给定的期望值. 最后在仿真实例中, 实现了异构多机器人系统在期望位置的聚集, 仿真结果验证了理论分析的正确性. |
| 英文摘要 |
| A linear consensus protocol for heterogeneous multi-agent systems composed of first-order and second-order agents is proposed. Graph theory and matrix theory are used to establish the convergence value expression of heterogeneous multi-agent systems. Based on the expression, the convergence interval is deduced. Then, the system can converge to arbitrary expected value in this interval via setting the parameters. Finally, in the simulation example, the rendezvous of multi-robot systems is implemented on expected position. Simulation result is provided to demonstrate the correctness of the theoretical results. |
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