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针对具有有向固定拓扑结构的二阶多智能体系统,基于预测的方法分别提出了快速静态和动态一致性协议.运用频域分析法和代数理论对系统稳定性进行了分析,证明在一定的拓扑结构条件下,当预测强度取值恰当时,基于预测的一致性协议收敛速度明显快于原协议.得到了系统稳定的充要条件以及系统收敛速度加快的充分条件,并进一步得出系统达到最快收敛速度时预测强度的取值范围.最后,用算例仿真验证了结果和分析过程的有效性.
For the second-order multi-agent system with directional fixed topology, the fast static and dynamic consistency protocols are proposed based on the prediction method respectively. The stability of the system is analyzed by frequency domain analysis and algebraic theory, Under the condition of topological structure, the convergence rate of the consensus-based consensus-based protocol is significantly faster than the original one when the prediction strength is appropriate. The sufficient and necessary conditions for the system stability and the sufficient conditions for the system to converge are obtained. Furthermore, And the range of the predicted strength at the fastest convergence rate.Finally, the simulation results show that the results and the validity of the analysis process.