High-order consensus of heterogeneous multi-agent systems
High-order consensus of heterogeneous multi-agent systems
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DOI：
10.1016/j.automatica.2012.03.017
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发表时间：
2011-05
期刊：
影响因子：
--
通讯作者：
Yu-Ping Tian;Ya Zhang
中科院分区：
文献类型：
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作者：
Yu-Ping Tian;Ya Zhang
本文研究了通信延迟未知的异构多智能体系统的高阶共识问题。给出了异构多智能体系统高阶共识解存在的充要条件。该条件表明，对于具有不同通信延迟的系统，高阶共识并不要求每个智能体的自延迟等于相应的通信延迟。当通信延迟未知时，提出了一种简单的自适应调整算法，用于在线调整自延迟。
This paper studies the high-order consensus problem for heterogeneous multi-agent systems with unknown communication delays. A necessary and sufficient condition is given for the existence of a high-order consensus solution to heterogeneous multi-agent systems. The condition shows that, for systems with diverse communication delays, high-order consensus does not require the self-delay of each agent to be equal to the corresponding communication delay. When the communication delays are unknown, a simple adaptive adjustment algorithm is presented for on-line adjusting self-delays.