有向图下考虑暂态响应的多智能体H∞一致性控制
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1. 海军航空工程学院
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祁亚辉

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TP13

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H∞ Consensus Control of Multi-agent Systems Synthesised with Transient Performance in Direted Networks
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    摘要:

    本文研究了有向通信拓扑条件下,线性多智能体满足一定暂态响应性能的H∞一致性控制。相比已有的无向通信拓扑条件下的结论,本文结论对通信拓扑结构要求大为降低,更具有一般性。文中通过对有向图下Laplacian矩阵特定形式的分解,将系统一致性问题转化成了低维系统的稳定性问题,进而根据Lyapunov稳定性分析给出了满足暂态性能指标的充分条件。文中给出了相应的控制设计方法,并结合空间二维二阶运动模型进行了仿真,结果表明该控制器设计方法有效。

    Abstract:

    In this paper, the H∞ consensus control synthesised with transient perfomance for linear muilt-agent systems in directed networks is investigated. Compared with the existing conclusions in undirected networks, the one presented in the article depends less on the structure of the communication topology which is more common. A novel matirx decomposition of Laplacian matrix is introduced, then the consensus problem is converted into an control problem of a lower dimension system via a proper linear variable transformation, which can be analysed by Lyapunov method. A sufficient condition to achive consensus synthesised with transient perfomance is presented. Finally, the effectiveness of the theoretical results is illustrated via a numerical simulation on a two demensional two order UAV model.

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周绍磊 祁亚辉 闫实 刘伟.有向图下考虑暂态响应的多智能体H∞一致性控制[J].控制与决策,2016,31(11):2053-2058

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历史
  • 收稿日期:2015-12-24
  • 最后修改日期:2016-03-28
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  • 在线发布日期: 2016-11-20
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