| 二阶多智能体系统的领导—跟随异步脉冲一致性 |
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| 引用本文： | 陈珂熙,彭世国,孙艳鹏.二阶多智能体系统的领导—跟随异步脉冲一致性[J].教育技术导刊,2020,19(6):79-84. |
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| 作者姓名： | 陈珂熙 彭世国 孙艳鹏 |
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| 作者单位： | 广东工业大学 自动化学院，广东 广州 510006 |
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| 基金项目： | 广东省自然科学基金项目（S2013010013034） |
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| 摘 要： | 针对具有时延的二阶多智能体系统领导—跟随异步脉冲一致性问题，假设每个多智能体采样邻接点信息的时刻互不相同，针对无向切换网络拓扑的多智能体系统，提出一种切换拓扑下有领导者的异步脉冲一致性控制协议。首先对该协议进行理论分析；然后构造 Lyapunov 函数，并利用 Lyapunov 稳定性理论与树形转换法给出多智能体系统在该控制协议下达到异步一致的充分条件；最后提出实例并进行 MATLAB 仿真。仿真结果表明，在脉冲控制下跟随者与领导者误差渐进趋于零，验证了该一致性协议有效性。
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| 关 键 词： | 多智能体系统 脉冲控制 时延 领导—跟随 异步一致性 切换拓扑 |
| 收稿时间： | 2019-10-11 |
Leader-following Asynchronous Impulsive Consensus of Second-order Multi-agent Systems |
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| CHEN Ke-xi,PENG Shi-guo,SUN Yan-peng.Leader-following Asynchronous Impulsive Consensus of Second-order Multi-agent Systems[J].Introduction of Educational Technology,2020,19(6):79-84. |
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| Authors: | CHEN Ke-xi PENG Shi-guo SUN Yan-peng |
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| Institution: | Faculty of Automation，Guangdong University of Technology，Guangzhou 510006，China |
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| Abstract: | The leader-following asynchronous impulsive consensus problem of second-order multi-agent systems with measurement time-delays is investigated. It is assumed that each agent receives the measurements of the information from its neighboring agents according to its own sampling clock. Concerning undirected networks with switching topology of a multi-agent system，an asynchronous impulsive control protocol for leader-following consensus under switching topology is proposed，and a theoretical analysis of the protocol is made. By constructing an appropriate Lyapunov function，the sufficient conditions are established to guarantee that the proposed protocol leads to asynchronous consensus based on Lyapunov stability theory and tree-type transformation. Finally，a Matlab numerical simulation example is drawn to simulate a multi-agent system with measurement time-delays，and the results show that the error between the followers and the leader goes to zero asymptotically. Therefore，the effectiveness of the proposed method is verified. |
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| Keywords: | multi-agent systems impulsive control measurement time-delays leader-following asynchronous consensus switching topologies |
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