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Leader-Follower结构下多智能体系统一致性的鲁棒性能分析
Robustness Analysis of Consensus for Multi-Agents with Leader-Follower Topology
【Author】 YANG Xi,WANG Jinzhi State Key Laboratory for Turbulence and Complex Systems,Department of Mechanic and Aerospace Engineering,College of Engineering,Peking University,Beijing 100871,P.R.China
【机构】 北京大学湍流与复杂系统国家重点实验室工学院力学与空天技术系；
【摘要】 本文研究了leader-follower通讯拓扑结构下用二阶积分器系统描述的多智能体系统一致性的鲁棒性问题。在通讯拓扑是时不变的且每个follower的入度为1的情况下分析了通讯协议中测量误差对系统达到一致性的影响,给出了系统一致性的鲁棒分析结果。
【Abstract】 In this paper the robustness of consensus is considered for multi-agents systems described by double-integral with leader-follower communication topology.The effect of measured errors involved in a communication protocol on achieving consensus is analyzed with time-invariant communication topology and in-degree one for each follower.The analysis results for robustness of consensus are provided.
【Key words】 Multi-Agent System； Consensus； Leader-Follower Topology； Measured Errors； Robustness；
- 【会议录名称】 第二十九届中国控制会议论文集
- 【会议名称】第二十九届中国控制会议
- 【会议时间】2010-07-29
- 【会议地点】中国北京
- 【分类号】TP13
- 【主办单位】中国自动化学会控制理论专业委员会(Technical Committee on Control Theory,Chinese Association of Automation)