【摘要】 将一致性问题与代价函数相结合,研究了带有时滞的线性多智能体系统最优一致性问题。首先,采用模型变换将一致性问题转换成稳定性问题。进而,利用控制理论和线性矩阵不等式方法推导出控制器存在的一般性条件和代价函数性能指标上界。然后,将问题转换成凸优化问题,得到最优性能指标的一致性控制器。最后,通过仿真实例,验证了算法和判据的正确性。更多还原

【Abstract】 The optimal consensus problem of linear multi-agents system with time delay is investigated.Firstly,the optimal consensus problem is converted into a stability problem of another reduced-order system.Then,based on the optimal control theory and the linear matrix inequality design approach,a sufficient linear matrix inequality condition is derived and the cost function value is no more than a specified upper bound.Furthermore,a convex optimization problem is formulated to determine the optimal consensus controller.Finally,an example is given to illustrate the effectiveness of the proposed design approach.更多还原