【作者】 杨洪勇； 路兰； 李晓；

【Author】 Yang Hongyong,Lu Lan,Li Xiao School Computer Science and Technology,Ludong University,Yantai 264025,China

【机构】 鲁东大学计算机科学与技术学院；

【摘要】 随着计算机技术、网络技术和通信技术的飞速发展,人们对于基于网络的多智能体系统的交互和协调控制的研究越来越多。特别是,多智能体系统在无人驾驶飞行器的编队控制、分布式传感器网络、卫星的姿态控制、分布式计算以及通讯网络的拥塞控制等各个领域的广泛应用,推动着多智能体系统建模与分析的研究逐步深入。本文研究了具有不同的通信时延和不同的输入时延的移动多智能体算法的一致性。假设多智能体系统有n个智能体和一个Leader组成,网络连接拓扑是静态有向连通图,智能体Leader为拓扑图的全局可达节点。本文应用广义Nyquist判据和曲线的曲率理论研究了时延多智能体算法的一致性,得到保证系统一致性的收敛条件。该一致性条件是一个应用节点局部信息的分散式条件,而且只与输入时延有关。更多还原

【Abstract】 Recently,consensus problems have attracted much attention among researchers studying distributed and decentralized automated systems This is partly due to broad applications of multi-agent systems in many areas including cooperative control of mobile robots,unmanned air vehicles(UAVs),autonomous underwater vehicles(AUVs),automated highway systems,and so on.Consensus of mobile multi-agents system with heterogeneous communication delays and heterogeneous input delays is studied.Suppose multi-agent systems consist of n agents and a leader,there is a static directed interconnected graph with leader as a globally reachable node.By Appling generalized Nyquist criterion and curvature theory,the consensus of delayed algorithm with leader-following is analyzed,and a decentralized convergence condition is obtained to ensure the consensus of multi-agent systems.This consensus condition is dependent on input delays but independent of communication delays.更多还原