南京理工大学学报（自然科学版）2016，Vol.40Issue(5)：626-634,9.DOI:10.14177/j.cnki.32-1397n.2016.40.05.020
一类混合阶多自主体系统的一致性分析
Consensus analysis for a class of mixed-order multi-agent system
摘要
Abstract
By simplifying the mathematical models of differential unmanned ground vehicles and quadrotor unmanned aerial vehicles as single integrators and fourth-order integrators respectively,the consensus problem is investigated for the mixed-order multi-agent systems composed of first-order agents and fourth-order agents in this paper. Stationary consensus algorithms are designed for the first-order agent and the fourth-order agent respectively. Under the fixed directed topology, the necessary and sufficient condition is obtained for the multi-agent systems converging to an asymptotic consensus by using the algebraic graph theory and the matrix theory. By constructing the Lyapunov-Krasovskii functional,the sufficient consensus condition being expressed as a linear matrix inequality is obtained for multi-agent systems subject to time-varying input delay. Simulation results verify the effectiveness of the theoretical findings.关键词
混合阶多自主体系统/一致性/输入时延/有向拓扑Key words
mixed-order multi-agent systems/consensus/input delay/directed topology分类
通用工业技术引用本文复制引用
罗京,刘成林,刘飞..一类混合阶多自主体系统的一致性分析[J].南京理工大学学报（自然科学版）,2016,40(5):626-634,9.基金项目
国家自然科学基金(61473138 （）
61104092) （）
江苏省自然科学基金( BK20151130) （ BK20151130）
江苏省“六大人才高峰”资助项目(2015-DZXX-011) （2015-DZXX-011）
