| 引用本文: | 董汉,程善,张冬梅.无速度输入多智能体系统的一致性[J].控制理论与应用,2019,36(10):1599~1605.[点击复制] |
| DONG Han,CHENG Shan,ZHANG Dong-mei.Consensus of multi-agent systems without velocity input[J].Control Theory and Technology,2019,36(10):1599~1605.[点击复制] |
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| 无速度输入多智能体系统的一致性 |
| Consensus of multi-agent systems without velocity input |
| 摘要点击 2295 全文点击 1150 投稿时间：2018-05-21 修订日期：2019-02-03 |
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| DOI编号 10.7641/CTA.2019.80370 |
| 2019,36(10):1599-1605 |
| 中文关键词 多智能体系统 一致性 非线性 分布式协议 通讯网络 |
| 英文关键词 multi-agent systems consensus non-linear distributed protocol communication network |
| 基金项目 省博士后科学基金 |
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| 中文摘要 |
| 本文研究了有无引导者的多智能体系统在非线性协议下的一致性问题. 当智能体速度信息无法获知时, 分别针对有
无引导者的多智能体系统设计了包含辅助系统和智能体相对位移信息的非线性分布式协议. 借助图论、 Lyapunov
稳定性理论、 Barbalat引理等方法, 推导出有无引导者的多智能体系统在连通无向通讯网络中实现一致的充分条件,
其次, 设计了一种新的能使引导―追随者多智能体系统在有向通讯网络中实现期望一致的协议. 最后, 数值仿真验证
了结果的正确性. |
| 英文摘要 |
| This paper investigates the consensus problem for multi-agent systems with and without a leader under
the non-linear protocols. When the velocity information of agents are unavailable, the non-linear distributed protocols
including auxiliary systems and relative position information of agents are designed for multi-agent systems with and
without a leader respectively. By employing the methods of graph theory, Lyapunov stability theory, Barbalat lemma,
the sufficient conditions for multi-agent systems with and without a leader to achieve consensus in undirected networks
is developed. Secondly, a new protocol is derived to achieve the expected consensus with leader-following multi-agent
systems in the directed communication network. Finally, the numerical simulation demonstrates the effectiveness of the
theoretical results. |
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