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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.
This paper studies the robustness of the synergetic consistency control for multi-graph first-order multi-agent systems under the influence of external disturbances.We use the 2-norm of the closed-loop system to measure the robustness of the system.Using algebraic graph theory, control On the basis of theory and matrix theory, this paper establishes a direct connection between the robustness of multi-agent system and the norm of system 2 and the topological communication of system in the presence or absence of communication topology with strict proofs. The convergence speed, robustness analysis and comparison of multi-agent system with satellite, star map, road map and ring map.The simulation example shows the effectiveness of the proposed method.