具有不同时延的多智能体系统一致性分析

纪良浩; 廖晓峰

doi:10.7498/aps.61.150202

摘要

针对有向加权且存在全局可达点的静态网络拓扑, 考虑了同时具有通信时延和输入时延的一阶、二阶智能体系统的运动一致性问题. 基于广义Nyquist准则与频域控制理论的方法, 分析并得到了网络中所有智能体渐进收敛到一致状态的充分条件. 通过该条件发现一致性的达到只与系统的耦合强度、智能体的输入时延以及各自的连接状态信息有关, 与通信时延无关. 但是, 通信时延的存在却要影响系统的动态特性. 仿真实验结果进一步验证了理论分析所得结论的正确性.

关键词:

多智能体 /
时延 /
一致性 /
收敛

Abstract

Consensus problems of first-order and second-order multi-agent system with communication delays and input delays are proposed based on the frequency-domain analysis and generalized Nyquist criterion. Supposing that the topology of the multi-agent system is fixed, asymmetrically interconnected digraph and owns a globally reachable node, the sufficient condition for system convergence is obtained. The results show that the condition of convergence is dependent only on system coupling strength, each agent input time delay and the adjacent weights to its neighbors, but independent of communication delay which can affect the dynamics of the system. Finally, simulations are provided to demonstrate the effectiveness of our theoretical results.

Keywords:

作者及机构信息

纪良浩^1,2,
廖晓峰¹

1.
输配电装备及系统安全与新技术国家重点实验室,重庆大学计算机学院, 重庆 400044;

2.
重庆邮电大学计算机学院, 重庆 400065

基金项目: 国家自然科学基金(批准号: 60973114, 61170249), 重庆市科委自然科学基金(批准号: 2009BA2021, cstc2011jjA1320), 重庆大学输配电装备及系统安全与新技术国家重点实验室基金(批准号: 2007DA10512711206)资助的课题.

Authors and contacts

1.
State Key Lab. of Power Transmission Equipment & System Security and New Technology, College of Computer Science, Chongqing University, Chongqing 400044, China;

2.
College of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China

Funds: Project supported by the National Natural Science Foundation of China (Grant Nos. 60973114, 61170249), the Natural Science Foundation of CQCSTC (Grant Nos. 2009BA2024, cstc2011jjA1320), and the State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing University (Grant No. 2007DA10512711206).

参考文献

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[2]	Paganini F, Doyle J, Low S 2001 Proceedings of the International Conference on Decision and Control Orlando, Florida, USA, December 4-7, 2001 p185
[3]	Olfati-Saber R 2006 IEEE Trans. on Autom. Control 51 401
[4]	Liu T L, Huang H J 2007 Acta Phys. Sin. 56 6321 (in Chinese) [刘天亮, 黄海军 2007 56 6321]
[5]	Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[6]	Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[7]	Tan F X, Guan X P, Liu D R 2008 Chin. Phys. B 17 3531
[8]	Sun Y Z, Ruan J 2008 Chin. Phys. B 17 4137
[9]	Bliman P A, Ferrari-Trecate G 2008 Automatica 44 1985
[10]	Liu C L, Tian Y P 2009 Control and Decision 24 1601 (in Chinese) [刘成林, 田玉平 2009 控制与决策 24 1601]
[11]	Vicsek T, Czirok A, Ben-Jacob E 1995 Phys. Rev. Lett. 75 1226
[12]	Jadbabaie A, Lin J, Morse A S 2003 IEEE Trans. on Autom. Control 48 988
[13]	Olfati-Saber R, Murray R M 2004 IEEE Trans. on Autom. Control 49 1520
[14]	Ren W, Beard R W 2005 IEEE Trans. on Autom. Control 50 655
[15]	Moreau L 2005 IEEE Trans. on Autom. Control 50 169
[16]	Yu H, Jian J G, Wang Y J 2007 Control and Decision 22 558(in Chinese) [俞辉, 蹇继贵, 王永骥 2007 控制与决策 22 558]
[17]	Yang H Y, Zhang S Y 2009 Control and Decision 24 413 (in Chinese) [杨洪勇, 张嗣瀛 2009 控制与决策 24 413]
[18]	Tian Y P, Liu C L 2008 IEEE Trans. on Autom. Control 53 2122
[19]	Wang W, Slotine J J E 2006 IEEE Trans. on Autom. Control 51 712
[20]	Yang W, Bertozzi A L, Wang X F 2008 Proceedings of the 47th IEEE Conference on Decision and Control Cancun, Mexico, December 9-11, 2008 p2926
[21]	Lin P, Jia Y M, Du J P 2008 American Control Conference Seattle, Washington, June 11-13, 2008 p1564
[22]	Tian Y P, Liu C L 2009 Automatica 45 1347
[23]	Li H, Lin P, Zhang C X 2009 Acta Phys. Sin. 58 158 (in Chinese) [李慧, 林鹏, 张春熹 2009 58 158]
[24]	Lin P, Jia Y M 2010 IEEE Trans. on Autom. Control 55 778
[25]	Liu C L, Liu F 2011 Acta Phys. Sin. 60 030202 (in Chinese) [刘成林, 刘飞 2011 60 030202]
[26]	Liu C L, Tian Y P 2008 Journal of Southeast University (Natural Science Edition) 38 170 (in Chinese) [刘成林, 田玉平 2008 东南大学学报(自然科学版) 38 170]
[27]	Tian Y, Yang H 2004 Proceedings of the 5th World Congress on Intelligent Control and Automation Hangzhou, China, June 14-15, 2004 p15
[28]	Yang H Y, Tian S W, Zhang S Y 2011 Acta Electronica Sinica 39 872 (in Chinese) [杨洪勇, 田生文, 张嗣瀛 2011 电子学报 39 872]

施引文献

[1]	Yu W W, Chen G R, Wang Z D, Yang W 2009 IEEE Trans. on Syst. Man Cybern. 39 1568
[2]	Paganini F, Doyle J, Low S 2001 Proceedings of the International Conference on Decision and Control Orlando, Florida, USA, December 4-7, 2001 p185
[3]	Olfati-Saber R 2006 IEEE Trans. on Autom. Control 51 401
[4]	Liu T L, Huang H J 2007 Acta Phys. Sin. 56 6321 (in Chinese) [刘天亮, 黄海军 2007 56 6321]
[5]	Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[6]	Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[7]	Tan F X, Guan X P, Liu D R 2008 Chin. Phys. B 17 3531
[8]	Sun Y Z, Ruan J 2008 Chin. Phys. B 17 4137
[9]	Bliman P A, Ferrari-Trecate G 2008 Automatica 44 1985
[10]	Liu C L, Tian Y P 2009 Control and Decision 24 1601 (in Chinese) [刘成林, 田玉平 2009 控制与决策 24 1601]
[11]	Vicsek T, Czirok A, Ben-Jacob E 1995 Phys. Rev. Lett. 75 1226
[12]	Jadbabaie A, Lin J, Morse A S 2003 IEEE Trans. on Autom. Control 48 988
[13]	Olfati-Saber R, Murray R M 2004 IEEE Trans. on Autom. Control 49 1520
[14]	Ren W, Beard R W 2005 IEEE Trans. on Autom. Control 50 655
[15]	Moreau L 2005 IEEE Trans. on Autom. Control 50 169
[16]	Yu H, Jian J G, Wang Y J 2007 Control and Decision 22 558(in Chinese) [俞辉, 蹇继贵, 王永骥 2007 控制与决策 22 558]
[17]	Yang H Y, Zhang S Y 2009 Control and Decision 24 413 (in Chinese) [杨洪勇, 张嗣瀛 2009 控制与决策 24 413]
[18]	Tian Y P, Liu C L 2008 IEEE Trans. on Autom. Control 53 2122
[19]	Wang W, Slotine J J E 2006 IEEE Trans. on Autom. Control 51 712
[20]	Yang W, Bertozzi A L, Wang X F 2008 Proceedings of the 47th IEEE Conference on Decision and Control Cancun, Mexico, December 9-11, 2008 p2926
[21]	Lin P, Jia Y M, Du J P 2008 American Control Conference Seattle, Washington, June 11-13, 2008 p1564
[22]	Tian Y P, Liu C L 2009 Automatica 45 1347
[23]	Li H, Lin P, Zhang C X 2009 Acta Phys. Sin. 58 158 (in Chinese) [李慧, 林鹏, 张春熹 2009 58 158]
[24]	Lin P, Jia Y M 2010 IEEE Trans. on Autom. Control 55 778
[25]	Liu C L, Liu F 2011 Acta Phys. Sin. 60 030202 (in Chinese) [刘成林, 刘飞 2011 60 030202]
[26]	Liu C L, Tian Y P 2008 Journal of Southeast University (Natural Science Edition) 38 170 (in Chinese) [刘成林, 田玉平 2008 东南大学学报(自然科学版) 38 170]
[27]	Tian Y, Yang H 2004 Proceedings of the 5th World Congress on Intelligent Control and Automation Hangzhou, China, June 14-15, 2004 p15
[28]	Yang H Y, Tian S W, Zhang S Y 2011 Acta Electronica Sinica 39 872 (in Chinese) [杨洪勇, 田生文, 张嗣瀛 2011 电子学报 39 872]

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