高阶离散时间多智能体系统的量化一致性

摘要

We investigate the consensus problem of high-order discrete-time linear multi-agent systems (HDLMAS) under directed information topology with quantized link in this paper.Firstly,we propose a linear consensus protocol which consists of quantized information of the agent itself and its neighbors.Secondly,we solve the quantized consensus problem by proposing a linear transformation to translate it into a stability problem.Based on stability theory,we obtain necessary and sufficient criteria in terms of Schur stability of matrices,and present an analytical expression of the consensus function,which is depended on the communication topology,the system dynamic and the initial states of the whole system.Finally,we propose a design procedure of the gain matrices in the protocol by solving an algebraic Riccati inequality.%研究高阶线性多智能体系统在有向量化链路信息拓扑下的一致性问题.首先提出了包含智能体自身与其邻居量化信息的线性一致性协议,其次利用提出的线性变换,将一致性问题转化为稳定性问题,基于稳定性理论,得到基于矩阵Schur稳定性的充要条件,并得到依赖于信息拓扑、系统动态和整个系统初始状态的一致性函数,最后,通过求解代数Riccati不等式,提出增益矩阵的设计过程.