| 具有不同通信时延的多个体系统的一致性 |
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| 引用本文： | 刘成林,田玉平.具有不同通信时延的多个体系统的一致性[J].东南大学学报(自然科学版),2008,38(1):170-174. |
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| 作者姓名： | 刘成林 田玉平 |
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| 作者单位： | 东南大学自动化学院,南京,210096 |
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| 基金项目： | 国家自然科学基金，国家高技术研究发展计划(863计划)，江苏省自然科学基金 |
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| 摘 要： | 针对具有不同通信时延的多个体系统的一致性问题,提出了一种引入自身时延的一致性协议.根据广义Nyquist判据与Gerschgorin圆盘定理,得到了系统渐近收敛一致的充分条件.在多个体系统的有向连接拓扑含有一个全局可达节点的条件下,一致收敛的充分条件仅与个体的自身时延、以及个体与邻居个体的连接权值有关.在提出的协议中,引入自身时延能够加速具有通信时延的多个体系统的收敛速度,而通信时延并不影响系统的收敛,但其可以延长收敛时间.此外,得到了系统最终收敛的一致状态的求解方法.仿真结果证明了结论的正确性.
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| 关 键 词： | 一致性 多个体系统 通信时延 协调 |
| 文章编号： | 1001-0505（2008）01-0170-05 |
| 收稿时间： | 2007-09-05 |
| 修稿时间： | 2007年9月5日 |
Consensus of multi-agent system with diverse communication delays |
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| Liu Chenglin,Tian Yuping.Consensus of multi-agent system with diverse communication delays[J].Journal of Southeast University(Natural Science Edition),2008,38(1):170-174. |
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| Authors: | Liu Chenglin Tian Yuping |
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| Abstract: | A consensus protocol with self-introduced delay is proposed to solve the consensus problem of multi-agent system with diverse communication delays.Based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem,sufficient conditions for the convergence to a consensus are obtained.Under the directed interconnection topology of the multi-agent system that has a globally reachable node,the conditions for the consensus convergence depend on each agent's self-delay and the weights of the edges to the agent's neighbors.Under the proposed protocol,introducing self-delay can speed up the convergence rate for the system with communication delays.Moreover,the communication delays do not influence the convergence,instead they prolong the converging time.In addition,the computation method of the final consensus state of the multi-agent system is obtained.Simulation results illustrate the correctness of the results. |
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| Keywords: | consensus multi-agent system communication delays coordination |
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