| 基于观测器的线性时变时滞多智能体系统一致性 |
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| 引用本文： | 刘忠信,刘,李杨博,陈增强.基于观测器的线性时变时滞多智能体系统一致性[J].控制与决策,2019,34(9):1885-1892. |
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| 作者姓名： | 刘忠信 刘 李杨博 陈增强 |
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| 作者单位： | 南开大学计算机与控制工程学院,天津,300353;天津市智能机器人技术重点实验室,天津,300353 |
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| 基金项目： | 国家自然科学基金项目(61573200, 61573199). |
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| 摘 要： | 针对系统状态不可测和具有通信时延的线性多智能体系统,提出一种基于观测器的一致性控制算法.设计观测器用于解决智能体状态不可测的问题,在观测器的基础上,提出一种控制协议来实现带时变时延的线性多智能体系统一致性.利用模型转换的方式将原系统转换为新的模型系统,在此基础上,构造Lyapunov-Krasovskii函数并分析系统稳定性,通过求解线性矩阵不等式获取控制器系数矩阵.最后通过Matlab数值仿真验证所提出方法的有效性.
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| 关 键 词： | 多智能体系统 线性多智能体系统 一致性 观测器 时变时延 |
Observer-based consensus of linear multi-agent systems with time-varying delays |
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| LIU Zhong-xin,LIU Hui,LI Yang-bo and CHEN Zeng-qiang.Observer-based consensus of linear multi-agent systems with time-varying delays[J].Control and Decision,2019,34(9):1885-1892. |
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| Authors: | LIU Zhong-xin LIU Hui LI Yang-bo and CHEN Zeng-qiang |
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| Affiliation: | College of Computer and Control Engineer,Nankai University,Tianjin300353,China;2. Tianjin Key Laboratory of Intelligent Robotics,Tianjin300353,China,College of Computer and Control Engineer,Nankai University,Tianjin300353,China;2. Tianjin Key Laboratory of Intelligent Robotics,Tianjin300353,China,College of Computer and Control Engineer,Nankai University,Tianjin300353,China;2. Tianjin Key Laboratory of Intelligent Robotics,Tianjin300353,China and College of Computer and Control Engineer,Nankai University,Tianjin300353,China;2. Tianjin Key Laboratory of Intelligent Robotics,Tianjin300353,China |
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| Abstract: | A consensus control algorithm based on observers is proposed for linear multi-agent systems where the states of systems are unmeasurable and the communication time is delayed. The observer is designed to be used in solving unmeasurable states of agents. Then, a control protocol is proposed to realize consensus of linear multi-agent systems with time-varying delay. The formal system is transformed into a new system using model transformation. According to this system, the stability of the system is analyzed via constructing the Lyapunov-Krasovskii function, and the coefficient matrixes are obtained by solving linear matrix inequalities. Finally, Matlab simulation is conducted to demonstrate the effectiveness of the proposed method. |
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