【摘要】 针对连通二部图结构下的一阶多智能体系统,考虑有无时滞两种情形下多智能体的加权分组一致问题.设计一类基于竞争关系的分散协调控制协议,利用矩阵论和代数图论等有利工具,使得在该控制协议下,多智能体系统均可全局收敛到任意指定的加权一致状态.针对系统存在时滞的情形,运用圆盘定理和广义奈氏准则,得到系统达到收敛时可能容忍的最大时延上界.仿真实例较好地验证了所得出结论的正确性.更多还原

【Abstract】 For single-integrator kinematics of multi-agent systems with connected bipartite topology, the system’s weighted group-consensus problem with/without time-delay is investigated. A decentralized and coordinated control protocol is designed. Based on the matrix theory and the graph theory, it is proved that the multi-agent systems can converge to the arbitrary prescribed weighted state. For the cases with time-delay, a upper bound on the maximum time-delay that the system can tolerate is obtained by using the gerschgorin theorem and Nyquist’s criterion. The simulation examples show the correctness of the obtained results.更多还原