Consensus Analysis of the Second Order Multi-agent Systems Based on Large Communication Delay
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摘要: 在有向网络拓扑下，该文研究了2阶大时滞多智能体系统的一致性，提出具有加权项的时滞状态导数反馈协议，改进了大通讯时滞导致系统震荡的问题。首先引入具有加权项的时滞状态导数反馈协议，并给出2阶多智能体系统的闭环形式；然后采用频域分析法求出2阶多智能体系统渐近实现稳态一致的充要条件，并证明与传统一致性协议相比，2阶多智能体系统在具有加权项的时滞状态导数反馈协议下能够容忍更大的通讯时滞；最后通过数值仿真验证了具有加权项的时滞状态导数反馈协议的优势。Abstract: Under the directed network topology, the consensus of the second order multi-agent system with large communication delay is studied, the protocol of delayed-state-derivative feedback with weighting term is proposed, which improves the problem of system oscillation caused by large communication delay. Firstly, the delayed-state-derivative feedback protocol with weighting term is introduced, and the closed-loop form of the second-order multi-agent system is given. Then, the sufficient and necessary conditions for the asymptotic steady-state consensus of the second-order multi-agent system are obtained by using the frequency domain analysis method, and it is proved that the second-order multi-agent system can tolerate the greater communication delay under the delayed-state-derivative feedback protocol with weighting term. Finally, the advantage of the delayed-state-derivative feedback protocol with weighting term is verified by numerical simulation.
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Key words:
- Multi-agent system /
- Consensus /
- Robustness /
- Communication delay
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图 1 在
$ \beta {\rm{ = }}0$ ,$ {r_1}{\rm{ = }}{r_2}{\rm{ = }}1$ 且$ \tau {\rm{ = }}1.3$ 下系统的状态
图 2 在
$\beta {\rm{ = }}0.2$ ,${r_1}{\rm{ = }}{r_2}{\rm{ = }}1$ 且$\tau {\rm{ = }}1.35$ 下系统的状态 -
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