【作者】 张亚； 田玉平；

【Author】 ZHANG Ya,TIAN Yu-Ping School of Automation,Southeast University,Nanjing 210096,P.R.China

【机构】 东南大学自动化学院；

【摘要】 考察在有向连接拓扑下具有离散时问一般线性动态的多智能体系统,利用基于动态输出反馈的协议来解一致性问题。文中指出与低阶积分器和连续时问系统不同,离散时问多智能体系统能否一致要依赖于智能体问的连接权重。将系统的一致性问题转化为若干个子系统的同时镇定问题,通过讨论不确定参数系统的鲁棒稳定性来给出存在动态输出反馈协议使得系统收敛到一致的关于权重的一个充分条件,并进一步给出可行的协议参数。最后利用数值仿真验证结论。更多还原

【Abstract】 This paper studies discrete-time general linear multi-agent systems over a fixed directed topology.Dynamic output feedback protocols are applied to solve the consensus problem.Being different from the low-order integrator and continuous-time systems,it is revealed that the solvability of the consensus depends on the weights of the topology.The consensus problem is converted to the simultaneous mean square stability of some stochastic switching subsystems.By considering the robust stability of certain system with uncertainty,a sufficient condition of the weights under which there exist dynamic output feedback protocols solving the consensus problem is given.Proper protocol parameters are further provided.更多还原