多智能体离散时间系统一致性研究

研究了无向连通图条件下带有输入延时的多智能体离散时间系统一致性问题,分析了多智能体系统一致性问题和离散时间系统稳定性之间的本质联系。利用广义Nyquist稳定性判定准则和矩阵特征值相关理论,推导出多智能体离散时间系统在信息交换拓扑为无向连通图且带有输入延时的条件下达到渐近一致的充分条件。仿真结果与理论分析相符,在无向连通图条件下,当输入延时小于或等于该充分条件给出的标准延时,多智能体系统可以达到渐进一致。

Research on the Consensus in Multi-Agent Discrete-Time Systems

In this paper,the problem of information consensus in networked multi-agent discrete-time systems in the presence of undirected connected graph and input time delay was researched.The analysis showed the essential relationship between the information consensus of multi-agent systems and the stability of discrete-time systems.Based on the theories of generalized Nyquist stability criterion and eigenvalue,it derived a sufficient condition to ensure the consensus of multi-agent discrete-time systems in the presence of undirected connected graph and input time delay.The simulation results coincided with the theoretical analysis,with the condition of undirected connected graph,and when the input delays were less than or equal to the standard delays given by the sufficient condition,the multi-agent systems could achieve consensus asymptotically.