瞬时耦合二阶多体系统的一致性及时滞效应

对于二阶多智能体,提出一种具有输入和通讯时滞的脉冲控制算法,分析可得这一算法的一致性准则. 同时讨论了输入时滞和通讯时滞对二阶多体系统的一致性能的影响. 结果表明,在确定二阶多体系统的一致动力学方面,通讯时滞比输入时滞有更重要的作用. 具体而言,没有通讯时滞时,二阶多体系统达到了动态一致,即个体的速度是一个非零常数;然而,只要有通讯时滞,在一定条件下系统的速度一致状态就是零.此外,发现一个更有趣的事实是,在无向网络拓扑作用下,通讯时滞或输入时滞将增强二阶多体系统的同步性能. 最后用一些数值仿真验证了理论结果的有效性.

Consensus of instantaneously coupled second-order multi-agent system and its time-delay effect

An impulsive control algorithm is proposed for second-order multi-agent systems with communication and input time-delays. The consensus criteria for getting such algorithm are analyzed. In the meantime, the effects of communication and input time-delays on the consensus performance of second-order multi-agent systems are discussed. It is shown that communication time delay will be more important than input time-delay in connection with determining consensus dynamics of second-order multi-agent systems. Explicitly, when there is no communication time-delay, second-order multi-agent systems will be able to achieve dynamic consensus with a nonzero constant velocity of individual agent. Nevertheless, so long as there exists communication delay, the velocity consensus state of the system will be zero under certain condition. In addition, an even more interesting fact will be found that either the communication or input time-delay will enhance the synchronization performance of the second-order multi-agent systems under undirected network topology. Finally, some numerical simulations are used to verity the effectiveness of the theoretical result.