Consensus of Multi-Agent Systems with Heterogeneous Delays and Leader-Following

YANG Hong-yong; TIAN Sheng-wen; ZHANG Si-ying

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Consensus of Multi-Agent Systems with Heterogeneous Delays and Leader-Following

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- Consensus of Multi-Agent Systems with Heterogeneous Delays and Leader-Following
- Acta Electronica Sinica Vol. 39, Issue 4, Pages: 872-876(2011)
- 作者机构：
  
  1. 鲁东大学信息科学与工程学院,山东,烟台,264025
  2. 青岛大学复杂性科学研究所,山东,青岛,266071
  3. 鲁东大学信息科学与工程学院山东烟台,264025
  4. 青岛大学复杂性科学研究所山东青岛,266071
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Published：2011
- 稿件说明：
移动端阅览
YANG Hong-yong, TIAN Sheng-wen, ZHANG Si-ying. Consensus of Multi-Agent Systems with Heterogeneous Delays and Leader-Following[J]. Acta Electronica Sinica, 2011, 39(4): 872-876.
DOI：

YANG Hong-yong, TIAN Sheng-wen, ZHANG Si-ying. Consensus of Multi-Agent Systems with Heterogeneous Delays and Leader-Following[J]. Acta Electronica Sinica, 2011, 39(4): 872-876. DOI：

摘要

本文研究了具有不同通信时延和不同输入时延的移动多智能体算法的一致性.假设多智能体系统有

个智能体和一个Leader组成

网络连接拓扑是非对称有向加权图

智能体Leader为拓扑图的全局可达节点.应用频域控制理论和广义Nyquist判据研究了时延多智能体算法的一致性

得到保证系统一致性的收敛条件.该一致性条件是一个应用节点局部信息的分散式条件

而且只与输入时延有关.最后

通过计算机仿真验证了本文结论的有效性.

Abstract

Consensus of mobile multi-agents system with heterogeneous communication delays and heterogeneous input delays is studied.Suppose multi-agent systems consist of n agents and a leader

there is an asymmetric directed interconnected graph with leader as a globally reachable node.By Appling frequency domain theory and generalized Nyquist criterion

the consensus of delayed algorithm with leader-following is analyzed

and a decentralized convergence condition is obtained to ensure the consensus of multi-agent systems.This consensus condition is dependent on input delays but independent of communication delays.Finally

computer simulation is used to show the validity of the results.

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