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针对有向加权且存在全局可达点的静态网络拓扑,考虑了同时具有通信时延和输入时延的一阶、二阶智能体系统的运动一致性问题.基于广义Nyquist准则与频域控制理论的方法,分析并得到了网络中所有智能体渐进收敛到一致状态的充分条件.通过该条件发现一致性的达到只与系统的耦合强度、智能体的输入时延以及各自的连接状态信息有关,与通信时延无关.但是,通信时延的存在却要影响系统的动态特性.仿真实验结果进一步验证了理论分析所得结论的正确性.
For the static network topology with directed weights and global reachable points, the motion consistency of first-order and second-order intelligent systems with both communication delays and input delays are considered. Based on the generalized Nyquist criterion and frequency domain control theory , The sufficient condition that all agents in the network converge to a consistent state asymptotically is analyzed and obtained. It is found that the consistency reaches only with the coupling strength of the system, the input delay of agents and their connection state information, But has nothing to do with the communication delay.However, the existence of communication delay has an impact on the dynamic characteristics of the system.The simulation results further verify the correctness of the theoretical analysis.