【作者】 杨洪勇； 刘启明；

【Author】 Yang Hong-yong,Liu Qi-ming School of 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】 本文提出了一个改进的移动多智能体二阶系统的一致性算法,并研究具有时延的多智能体系统的编队控制问题。假设系统拓扑存在全局可达节点,而且系统个体之间信息传输存在通信时延,个体内部存在输入时延,应用广义Nyquist判据研究了多智能体时滞运动系统,得到了保证系统达到一致的充分条件。最后应用计算机仿真验证了结论的有效性。更多还原

【Abstract】 In this paper,a consensus algorithm of multi-agent second-order dynamics system is proposed.The formation control of mobile multi-agent system is studied by introducing the communication delays and input delays.A consensus result is obtained by the hypothesis of directed network topology with globally reachable node,and a sufficient condition to ensure the formation control of the delayed system is presented by applying generalized Nyquist criterion.Finally,the validity of the results is shown by computer simulation.更多还原