多智能体系统在切换拓扑和时变时延下的H∞一致性

摘要

We investigate the problem of H∞ consensus for the multi-agent systems with switching topologies and time-varying delays.Consider the case that there exists an unspecified node loses connection with others in some time periods and the communication links can be restored,switching topologies are used to construct the communication among agents,and in the presence of bounded time-varying delays and external disturbance,the H∞ consensus problem can be transformed into a switched H∞ control problem.Then a distributed consensus protocol based on the state information of the agent and its neighbors is proposed to achieve the H∞ consensus.Based on this protocol,sufficient conditions are proposed under an average dwell time switching scheme such that the whole multi-agent system reaches the H∞ consensus.Lastly,a simulation example is presented to verify the effectiveness of the proposed methods.%研究了离散时间多智能体系统在切换拓扑和时变时延下的H∞一致性问题.考虑存在节点在一定时间内失联且通讯可以恢复的情形,利用切换拓扑描述智能体间通讯链路的变化,并在有界时变时延和外部干扰下,将多智能体系统的H∞一致性问题转化为切换H∞控制问题.提出一个仅基于智能体与其邻居状态信息的分布式一致性协议.基于此协议,在平均驻留时间切换机制下给出使得多智能体系统达到H∞一致性的充分条件.最后利用一个仿真例子验证所提方法的有效性.