复杂多个体系统领导者—跟随一致性研究

广西师范大学学报（自然科学版） ›› 2010, Vol. 28 ›› Issue (4): 9-14.

复杂多个体系统领导者—跟随一致性研究

宋晓欣¹, 李德权^1,2

1.安徽理工大学理学院,安徽淮南 232001;
2.上海交通大学自动化系,上海 200240

收稿日期:2010-06-20 发布日期:2023-02-07
通讯作者: 李德权(1973—),男,安徽淮南人,安徽理工大学副教授。E-mail:dqli@sjtu.edu.cn
基金资助:
国家863高技术研究发展计划基金资助项目(2006AA01Z104);国家自然科学基金资助项目(30570431,60873144);安徽省自然科学基金资助项目(090412251);安徽省教育厅自然科学重点研究资助项目(KJ2007A074)

Leader-Following Consensus of Multi-Agent Systems

SONG Xiao-xin¹, LI De-quan^1,2

1.College of Science,Anhui University of Science and Technology,Huainan Anhui 232001,China;
2.Department of Automation,Shanghai Jiaotong University,Shanghai 200240,China

Received:2010-06-20 Published:2023-02-07

摘要/Abstract

摘要： 讨论了强连通网络拓扑情况下的领导者—跟随一致性问题,在跟随者的一致性协议中引入了聚合项,运用李亚普诺夫稳定性理论分析了闭环系统的稳定性,研究发现聚合项的引入对多个体系统达到一致具有重要影响,即增大聚合增益能使跟随者快速跟踪上领导者,从而提高系统的跟踪性能。最后给出仿真例子对理论分析进行了验证。

关键词: 多个体系统, 一致性, 强连通

Abstract: In this paper,the leader-following consensus problem for multi-agent systems with directed networks is studied.The leader-following consensus problem for multi-agent systems is also discussed when the corresponding graph of the network is strongly connected.The designed coordination laws for thefollowes utilize the agents velocity information,then the stability of the closed-loop system is further analized based on the classical Lyapunov theory.The effect of the aggregation gains on the tracking performance of the closed-loop system is theoretically proved.Finally,simulation results validate the theoretical analysis.

Key words: multi-agent system, consensus, strongly connected

中图分类号:

TP271.6

宋晓欣, 李德权. 复杂多个体系统领导者—跟随一致性研究[J]. 广西师范大学学报（自然科学版）, 2010, 28(4): 9-14.

SONG Xiao-xin, LI De-quan. Leader-Following Consensus of Multi-Agent Systems[J]. Journal of Guangxi Normal University(Natural Science Edition), 2010, 28(4): 9-14.

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