二阶多智能体系统拓扑切换下的领导跟随一致性

张振华; 彭世国

doi:10.12052/gdutxb.170125

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二阶多智能体系统拓扑切换下的领导跟随一致性

更新时间：2026-05-27

- 二阶多智能体系统拓扑切换下的领导跟随一致性
- Leader-Following Consensus of Second-Order Multi-Agent Systems with Switching Topology
- 广东工业大学学报 2018年35卷第2期页码：75-80
- 作者机构：
  
  广东工业大学　自动化学院,广东,广州,510006
- 作者简介：
  
  张振华(1991–)，男，硕士研究生，主要研究方向为多智能体系统及其一致性问题、非线性系统和脉冲控制. E-mail：1435334933@qq.com
- 基金信息：
  
  国家自然科学基金资助项目(61374081)
- DOI：10.12052/gdutxb.170125
  中图分类号： TP273
- 网络首发：2018-03-09，
  
  纸质出版：2018
- 稿件说明：
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张振华, 彭世国. 二阶多智能体系统拓扑切换下的领导跟随一致性[J]. 广东工业大学学报, 2018, 35(2): 75-80.

Zhang Zhen-hua, Peng Shi-guo. Leader-Following Consensus of Second-Order Multi-Agent Systems with Switching Topology[J]. 2018, 35(2): 75-80.
张振华, 彭世国. 二阶多智能体系统拓扑切换下的领导跟随一致性[J]. 广东工业大学学报, 2018, 35(2): 75-80. DOI： 10.12052/gdutxb.170125.

Zhang Zhen-hua, Peng Shi-guo. Leader-Following Consensus of Second-Order Multi-Agent Systems with Switching Topology[J]. 2018, 35(2): 75-80. DOI： 10.12052/gdutxb.170125.

摘要

在有积极领导者且系统网络拓扑切换的条件下

对二阶非线性多智能体系统的领导跟随一致性进行了研究. 协议在非脉冲时刻采取连续控制

在脉冲时刻采取离散控制

且脉冲时刻创新性地提出各智能体的速度增量既与邻接智能体的位移状态有关又与速度状态有关. 构建新模型的误差系统

基于Lyapunov稳定性理论

利用数学归纳法和其他相关知识

得到系统拓扑图无向且连通时系统实现一致性必须满足的充分条件

并用Matlab软件实例仿真验证了结果的正确性.

Abstract

With the conditions of active leadership and system topology switching

the leader-following consensus in the second-order nonlinear multi-agent systems is studied. While the protocol takes continuous control at non-pulsed moments and discrete control at pulse moments

an innovative view is raised that the speed increment of each agent is not only related to the displacement state of the adjacency agent but also to the velocity state. A New Model of Error System is constructed

based on Lyapunov stability theory

using mathematical induction and other related knowledge

and getting the sufficient conditions to achieve consensus when the system topology is directed and connected

and the result is verified by the Matlab simulation.

关键词

Keywords

references

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