[1]冀秀坤,谢广明,文家燕,等.含时延约束的多智能体系统二分一致性[J].智能系统学报,2020,15(4):780-786.[doi:10.11992/tis.201908027]
JI Xiukun,XIE Guangming,WEN Jiayan,et al.Bipartite consensus for multi-agent systems subject to time delays[J].CAAI Transactions on Intelligent Systems,2020,15(4):780-786.[doi:10.11992/tis.201908027]
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JI Xiukun,XIE Guangming,WEN Jiayan,et al.Bipartite consensus for multi-agent systems subject to time delays[J].CAAI Transactions on Intelligent Systems,2020,15(4):780-786.[doi:10.11992/tis.201908027]
含时延约束的多智能体系统二分一致性
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
15
期数:
2020年第4期
页码:
780-786
栏目:
吴文俊人工智能科学技术奖论坛
出版日期:
2020-07-05
- Title:
- Bipartite consensus for multi-agent systems subject to time delays
- Keywords:
- multi-agent systems; undirected graph; bipartite consensus; fixed-time delays; time-varying delays; Nyquist criterion; linear matrix inequality; free matrix
- 分类号:
- TP273
- 摘要:
- 针对多智能体系统中信息交互存在通信时延这一约束，在无向符号图拓扑结构下分别研究了含固定时延和时变时延的一阶多智能体系统二分一致性问题。通过设计相应的控制协议，使得该系统收敛到两个模值相同但符号不同的状态。在稳定性分析中，利用广义Nyquist准则的方法，得到含固定时延多智能体系统实现二分一致性的充分条件；对含时变时延系统构造包含三重积分项的Lyapunov函数，利用积分不等式和线性矩阵不等式理论，并结合自由矩阵的方法得到含时变时延多智能体系统实现二分一致性的充分条件。最后，数值仿真验证了所得结论的有效性和正确性。
- Abstract:
- The aim of this paper is to consider the practical constraint of interaction network associated with multi-agent systems (MASs) subject to communication delay, the bipartite consensus seeking is investigated for the first-order MASs with fixed time-delays and time-varying delays over an undirected signed graph, respectively. To solve the concerned problems, the corresponding algorithms oriented for fixed time-delays or time-varying counterpart are proposed. In other words, the consensus is achieved within each subgroup during evolution, in which the state of each subgroup will converge to the same modulus but different symbol. Sufficient condition of bipartite consensus for the interaction network of MASs suffered from fixed time-delays can be obtained by the use of the generalized Nyquist criterion; Furthermore, based on the tools of integral inequality and linear matrix inequality, the sufficient condition for the case of bipartite consensus for the interaction network of MASs with time-varying delays also can be derived through constructing a reasonable Lyapunov function with triple integral term. Numerical simulations are provided that demonstrate the effectiveness of our theoretical results.
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备注/Memo
收稿日期:2019-08-23。
基金项目:国家自然科学基金项目（61963006，61973007，61633002，61563006）；广西省自然科学基金项目（2018GXNSFAA050029，2018GXNSFAA294085）；广西自动检测技术与仪器重点实验室基金项目（YQ20208）
作者简介:冀秀坤，硕士研究生，主要研究方向为多智能体系统;谢广明，教授，博士生导师，兼任中国自动学会机器人竞赛工作委员会副主任，国际水中机器人联盟创始人，主要研究方向为复杂系统动力学与控制、智能仿生机器人多机器人系统与控制。现主持包括国家自然科学基金重点项目等8项，获发明专利授权20余项。曾荣获国家自然科学奖二等奖、教育部自然科学奖一等奖、吴文俊人工智能科学技术奖创新奖二等奖,发表学术论文200余篇;文家燕，副教授，博士，主要研究方向为事件驱动控制、多智能体编队控制。任中国自动化学会青年工作委员会委员，广西省自动化学会理事。现主持国家自然科学基金及省部级项目4项，获专利授权5项，发表学术论文25篇
通讯作者:文家燕.E-mail:wenjiayan2015@pku.edu.cn
更新日期/Last Update:
2020-07-25