Passivity-Based Control of Multi-Agent Systems
Passivity-Based Control of Multi-Agent Systems
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DOI：
10.1007/978-3-540-37347-6_6
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发表时间：
2006-12
期刊：
影响因子：
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通讯作者：
N. Chopra;M. Spong
中科院分区：
文献类型：
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作者：
N. Chopra;M. Spong
摘要本文研究了多智能体系统协调与同步问题的无源控制。我们处理由仿射非线性系统描述的代理，该系统是输入输出被动的，并且在由互连图描述的网络上交换信息。我们处理平衡有向图上的线性连接和无向图上的非线性连接。我们给出了固定图和切换图的同步结果。最后，我们讨论了智能体之间信息通信存在时间延迟的现实情况。我们的结果统一了文献中关于多智能体系统的几个现有结果。
AbstractIn this paper we study passivity-based control for the problem of coordination and synchronization of multi-agent systems. We treat agents described by affine nonlinear systems that are input-output passive and that exchange information over a network described by an interconnection graph. We treat both linear interconnections on balanced, directed graphs and nonlinear interconnections on undirected graphs. We present synchronization results for both fixed and switching graphs. Finally, we treat the realistic case of time delay in the communication of information among agents. Our results unify several existing results from the literature on multi-agent systems.