不同延迟下离散多智能体系统的一致性

doi:10.3724/SP.J.1146.2011.01114

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摘要移动多智能体系统的一致性问题是复杂动力学系统中非常有现实意义的问题。针对有向通信拓扑网络下具有不同延迟的一阶和二阶离散系统，该文提出一种一致性的协议，并进一步得到该系统离散域的传递函数。接着利用广义Nyquist判据和盖尔圆方法，对系统进行频域分析，推导出了传递函数一致性收敛的充分条件，给出了通信延迟的具体约束范围。最后给出数值算例，仿真结果验证了结论的正确性。

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	朱旭
	闫建国
	屈耀红

关键词 ：多智能体系统, 一致性协议, 离散系统, 通信延迟, 广义Nyquist判据

Abstract：Consensus problems for mobile multi-agent systems are very practically significant in complicated kinetics systems. A consensus protocol for the first-order and the second-order discrete-time system with diverse delays in directed communication network topology is proposed. Based on the protocol, the discrete transfer function is obtained. Then generalized Nyquist criterion and Gershgorin disc method is applied to analysis the system in frequency domain. A sufficient condition is deduced for consistency convergence of the transfer function, and concrete constraint range of communication delays is given out. The simulation results show the correctness of the proposed ideas.

Key words： Multi-agent system Consensus protocol Discrete-time system Communication delays Generalized Nyquist criterion

收稿日期: 2011-10-28

PACS:

TP391

基金资助:

国家自然科学基金(60974146)，陕西省自然科学基础研究计划(2011GQ8005)和西北工业大学基础研究基金(NPU-FFR- JC20100216)资助课题

通讯作者: 屈耀红 E-mail: qyh0809@nwpu.edu.cn

引用本文:

朱旭, 闫建国, 屈耀红. 不同延迟下离散多智能体系统的一致性[J]. 电子与信息学报, 2012, 34(6): 1516-1520. Zhu Xu, Yan Jian-Guo, Qu Yao-Hong. Consensus for the Discrete-time Multi-agent System with Diverse Delays. , 2012, 34(6): 1516-1520.

链接本文:

http://jeit.ie.ac.cn/CN/10.3724/SP.J.1146.2011.01114 或 http://jeit.ie.ac.cn/CN/Y2012/V34/I6/1516