Consensus of multi-agent systems based on sampled-data control
Consensus of multi-agent systems based on sampled-data control
复制标题
基于采样数据控制的多智能体系统共识
DOI：
10.1080/00207170902948035
复制
发表时间：
2009-01-01
影响因子：
2.1
通讯作者：
Wu, Bin
中科院分区：
文献类型：
--
作者：
Gao, Yanping;Wang, Long;Wu, Bin
本文研究了有向网络中的一致性问题，假设每个智能体都具有双积分动力学，并且只获得其在采样时刻相对于邻居的位置测量值。我们提出了一种基于采样数据控制的协议，并推导出该协议下的共识问题的可解性的等价表征。利用这种等效特性，我们进一步考虑了两种情况：固定拓扑和开关拓扑。对于第一种情况，我们提出了一组采样周期和反馈系数，以确保该协议可以解决共识问题。对于第二种情况，我们推导出协议在任意切换信号和一类切换信号下分别解决一致性问题的充分条件。最后，通过仿真验证了理论结果的有效性.
This article studies the consensus problem in directed networks, assuming that each agent is with double-integrator dynamics and only obtains the measurements of its positions relative to its neighbours at sampling instants. We propose a protocol based on sampled-data control and derive an equivalent characterisation of the solvability of the consensus problem under this protocol. In virtue of this equivalent characterisation, we further consider two cases: fixed topology and switching topology. For the first case, we present a set of sampling periods and feedback coefficients which ensure that the protocol can solve a consensus problem. For the second case, we derive sufficient conditions for the protocol to solve a consensus problem under arbitrary switching signals and under a class of switching signals, respectively. Finally, simulations are provided to illustrate the effectiveness of the theoretical results.