线性时滞多智能体系统多类型拓扑切换下的一致性-北京工业大学学报.pdfVIP

第42卷 第2期 北 京 工 业 大 学 学 报 Vol.42 No.2 2016年 2月 JOURNAL OF BEIJING UNIVERSITY OFTECHNOLOGY Feb. 2016 线性时滞多智能体系统多类型拓扑切换下的一致性 张亚霄,陈阳舟, 曲晓俊 (北京工业大学城市交通学院交通工程北京市重点实验室,北京摇 100124) 摘摇 要:针对带有时变时滞协议的连续时间线性高阶多智能体系统在多类型有向通信拓扑切换下的一致性问题进 行研究. 考虑多智能体系统在可一致与不可一致通信拓扑之间进行切换的情况. 通过一个线性变换将该一致性问 题等价地转化为一个切换时滞系统的稳定性问题. 基于切换系统稳定性理论与时滞系统理论,利用平均驻留时间 方法分析,以线性矩阵不等式(linear matrix inequalities,LMIs)的形式给出多智能体系统达到状态一致的充分条件. 数值实例验证了理论分析所得结论的正确性. 关键词:多智能体系统;有向切换通信拓扑;时变时滞;线性矩阵不等式;平均驻留时间 中图分类号:U461;TP308 文献标志码:A 文章编号:0254-0037(2016)02-0184-06 doi:10.11936/ bjutxb2015080033 Consensus of Linear Multi鄄agent System With Time鄄delay Under Multi鄄type Switching Topologies ZHANG Yaxiao,CHEN Yangzhou,QU Xiaojun (Beijing Key Laboratory of Transportation Engineering,College of Metropolitan Transportation, Beijing University of Technology,Beijing 100124,China) Abstract:Consensus problem was studied for continuous鄄time linear high鄄order multi鄄agent system with time鄄varying delay under multi鄄type switching communication topologies under the case that the system switches between consensusable and unconsensusable communication topologies. This consensus problem wasequivalentlytransformedintoanasymptoticstabilityproblemof acorrespondingswitcheddelay system by a linear transformation. Based on the stability theory of the switched systemsand time鄄delay systems, a sufficient condition was presented by the average dwell鄄time method in terms of linear matrix inequalities (LMIs)toguaranteetheconsensusofthemulti鄄agentsystem. Thesimulationresultillustrates the effectiveness of the obtained results. Key words:multi鄄agentsystem;directedswitchingco