Sampling Consensus of 2nd-Order Multi-Agent Systems Based on Time-Varying Topology
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摘要:
基于速度一致位移差保持不变的一致性概念，研究了二阶多智能体系统在时变拓扑下的采样一致性问题。首先，引入虚拟领导者，将具有时变拓扑结构的多智能体系统的采样一致性问题转换为误差系统的采样控制稳定性问题。其次，通过预估采样误差，研究采样误差对系统达到一致性的影响。最后，应用Lyapunov稳定性理论，分析所构造的误差系统的稳定性，并给出该误差系统最终稳定的充分条件。数值仿真结果验证了理论分析的有效性和正确性。
Abstract:The sampling consensus of 2nd-order multi-agent systems with time-varying topology was investigated based on the constant position difference and the consistent speed. Firstly, the virtual leader was introduced and the sampling consensus problem of multi-agent systems was transformed into the stability problem of the corresponding error system. Secondly, with estimation of the sampling errors, the influence of sampling errors on system consistency was studied. Finally, by virtue of the Lyapunov stability theory, the stability of the constructed error system was analyzed, and a sufficient condition for the stability of the error system was given. The numerical simulation results verify the effectiveness and correctness of the theoretical analysis.
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Key words:
- multi-agent system /
- consensus /
- sampled data /
- time-varying topology
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图 1 采样数据控制协议下三个智能体的位移轨迹及其与虚拟领导者轨迹的误差
Figure 1. The position trajectories of 3 agents under the sampled-data control protocol and the errors from their virtual leader trajectories
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