多图通信拓扑下一致性系统的鲁棒性度量
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作者:
作者单位:

1. 中南大学信息科学与工程学院,长沙410075;
2. 湖南商学院数学与统计学院,长沙410205.

作者简介:

黄志武

通讯作者:

中图分类号:

TP273

基金项目:

国家自然科学基金项目(61379111, 61202342, 61402538, 61403424).


Robustness measurement for consensus systems with multi-graph communication
Author:
Affiliation:

1. School of Information Science and Engineering,Central South University,Changsha 410075,China;
2. School of Mathematics and Statistics,Hu’nan University of Commerce,Changsha 410205,China.

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    摘要:

    研究在外界扰动影响下的通信拓扑为多图的一阶多智能体系统的协同一致性控制鲁棒性问题. 采用闭环系统的??2 范数来度量系统的鲁棒性; 借助代数图论、控制论和矩阵论, 建立通信拓扑在有无自环时多智能体系统鲁棒性、系统??2 范数、系统通信拓扑之间的直接联系, 并进行严格的证明; 给出通信拓扑为完备图、星图、路图、环图时多智能体系统之间的收敛速度、鲁棒性分析与比较. 仿真实例表明了所提出方法的有效性.

    Abstract:

    This paper investigates the robustness problem for consensus and cooperative control of the first order multi-agent systems with multi-graph communication affected by external disturbance. Robustness is quantified as the ??2 norm of the closed-loop system. The direct relationship among robustness of consensus, system ??2 norm, system communication topology for the oriented multi-agent systems are constructed when there exists self-loops or not in the communication topology in this note, which is based on the graph theory, the control theory and the matrix theory, and the rigorous proof is given in details. When the communication topology is complete graph, star graph, path graph and cycle graph, the convergence speed and robustness are analyzed and compared among them. Simulation examples are given to illustrate the effectiveness of the proposed methed.

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引用本文

刘建刚 黄志武.多图通信拓扑下一致性系统的鲁棒性度量[J].控制与决策,2016,31(8):1446-1452

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历史
  • 收稿日期:2015-07-02
  • 最后修改日期:2015-10-07
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  • 在线发布日期: 2016-08-20
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