中国物理B ›› 2008, Vol. 17 ›› Issue (12): 4458-4465.doi: 10.1088/1674-1056/17/12/021

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Agreement coordination for second-order multi-agent systems with disturbances

张春熹1, 李慧1, 林鹏2   

  1. (1)School of Instrument Science and Opto--electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China; (2)The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • 收稿日期:2008-05-19 修回日期:2008-06-20 出版日期:2008-12-20 发布日期:2008-12-20

Agreement coordination for second-order multi-agent systems with disturbances

Zhang Chun-Xi (张春熹)a, Li Hui (李慧)a, Lin Peng (林鹏)b   

  1. a School of Instrument Science and Opto--electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China; b The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2008-05-19 Revised:2008-06-20 Online:2008-12-20 Published:2008-12-20

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摘要： This paper is devoted to the study of consensus problems for the second-order multi-agent systems with external disturbances, switching topology and communication time-delay. Firstly, we perform a model transformation and separate the agreement states from the disagreement states. Secondly, according to this system, we derive a sufficient condition for consensus problem without disturbances by using the Lyapunov-based approach. Furthermore, we give a design criterion in terms of bilinear matrix inequality for the control protocol in the presence of disturbances. Finally, numerical simulations are provided to show the effectiveness of our strategies.

关键词: consensus, multi-agent systems, time-delay, switching topology, disturbance

Abstract: This paper is devoted to the study of consensus problems for the second-order multi-agent systems with external disturbances, switching topology and communication time-delay. Firstly, we perform a model transformation and separate the agreement states from the disagreement states. Secondly, according to this system, we derive a sufficient condition for consensus problem without disturbances by using the Lyapunov-based approach. Furthermore, we give a design criterion in terms of bilinear matrix inequality for the control protocol in the presence of disturbances. Finally, numerical simulations are provided to show the effectiveness of our strategies.

Key words: consensus, time-delay, switching topology, disturbance

中图分类号:  (Networks and genealogical trees)

  • 89.75.Hc
02.60.Cb (Numerical simulation; solution of equations) 02.60.Dc (Numerical linear algebra) 07.05.Dz (Control systems) 07.05.Tp (Computer modeling and simulation)