Consensus for second-order multi-agent systems with position sampled data
Consensus for second-order multi-agent systems with position sampled data
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DOI：
10.1088/1674-1056/25/10/100202
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发表时间：
2016-08
影响因子：
1.7
通讯作者：
Rusheng 如生 Wang 王;Lixin 利新 Gao 高;Wenhai 文海 Chen 陈;Dameng 大蒙 Dai 戴
中科院分区：
文献类型：
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作者：
Rusheng 如生 Wang 王;Lixin 利新 Gao 高;Wenhai 文海 Chen 陈;Dameng 大蒙 Dai 戴
本文研究了二阶多智能体系统的位置采样一致性问题。代理之间的交互拓扑由有向图描述。提出了基于位置采样数据的全维和降维观测器，并以此构造了两类基于采样数据的一致性协议。利用所提供的采样协议，将连续时间多智能体系统的一致性收敛分析等价地转化为离散时间系统的一致性收敛分析。然后，利用矩阵理论和采样控制分析方法，得到了基于耦合参数、Laplacian矩阵谱和采样周期的一致性充分必要条件。当采样周期趋于零时，我们所建立的充要条件退化为连续时间协议情形，这与已有的连续时间协议情形的结果一致.最后，我们建立的结果的有效性说明了一个简单的仿真例子。
In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated. The interaction topology among the agents is depicted by a directed graph. The full-order and reduced-order observers with position sampled data are proposed, by which two kinds of sampled data-based consensus protocols are constructed. With the provided sampled protocols, the consensus convergence analysis of a continuous-time multi-agent system is equivalently transformed into that of a discrete-time system. Then, by using matrix theory and a sampled control analysis method, some sufficient and necessary consensus conditions based on the coupling parameters, spectrum of the Laplacian matrix and sampling period are obtained. While the sampling period tends to zero, our established necessary and sufficient conditions are degenerated to the continuous-time protocol case, which are consistent with the existing result for the continuous-time case. Finally, the effectiveness of our established results is illustrated by a simple simulation example.