具有非均匀时延和切换拓扑的二阶多智能体系统的鲁棒一致性

2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2014-11-20 DOI:10.1109/MMAR.2014.6957451

Wenguang Zhang, D. Zeng, Yuguang Niu, Taihua Chang

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引用次数: 1

摘要

研究了具有非均匀时延和交换拓扑的二阶多智能体系统在存在外部干扰时的鲁棒一致性问题，其中每个智能体都有一个自延迟，并且每个延迟都是相互独立的。对于具有非均匀时滞和外部干扰的智能体，采用基于邻居的规则。导出了所有代理在满足期望H∞性能的情况下达成共识的充分条件。最后，通过数值模拟验证了所得理论结果的有效性。

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Robust consensus of second-order multi-agent systems with nonuniform time-delays and switching topologies

This paper studies the robust consensus problem for second-order multi-agent systems with nonuniform time-delays and switching topologies in the presence of external disturbances, where each agent has a self-delay and each delay is independent of each other. A neighbor-based rule is used for the agents with nonuniform time-delays and external disturbances. A sufficient condition is derived under which all agents achieve consensus while satisfying desired H∞ performance. Finally, the effectiveness of the obtained theoretical results is demonstrated through numerical simulations.

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2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)

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