| 通信时延下多智能体系统的静态一致性研究 |
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| 引用本文： | 卫佳,方华京.通信时延下多智能体系统的静态一致性研究[J].华中科技大学学报(自然科学版),2010(12). |
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| 作者姓名： | 卫佳 方华京 |
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| 作者单位： | 华中科技大学控制科学与工程系; |
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| 基金项目： | 国家自然科学基金资助项目(60574088,60874053) |
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| 摘 要： | 假设每个个体接收信息产生的时延相同,且处理自身信息产生的时延不同,针对通信时延下具有有向对称通信网络的多智能体系统,提出了一个自时延比例-微分控制协议,使系统的状态最终趋于一致.基于频域分析法和奈氏判据,给出了系统状态收敛到一致的充分条件,并计算出了系统静态一致时平衡状态的具体表达式.在Matlab环境下进行了仿真实验,其结果验证了理论的正确性和有效性.
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| 关 键 词： | 多智能体系统 通信网络 时延 一致性 代数图论 频域分析法 |
Static consensus research of multi-agent system with communication delays |
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| Wei Jia,Fang Huajing.Static consensus research of multi-agent system with communication delays[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2010(12). |
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| Authors: | Wei Jia Fang Huajing |
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| Institution: | Wei Jia,Fang Huajing(Department of Control Science and Engineering,Huazhong Universityof Science and Technology,Wuhan 430074,China) |
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| Abstract: | It was assumed that each agent receives its own state information with a constant delay and receives state information from its neighbors with different constant delays respectively.A new consensus protocol,in which a self-proportional-differential(PD) control item was introduced,was proposed for multi-agent system converging to consensus with directed symmetrical communication network.Then a sufficient condition was derived.based on frequency domain analysis and Nyquist stability criterion for the converge... |
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| Keywords: | multi-agent system communication network time-delays consensus algebra graph theory frequency domain analysis |
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