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研究了一类由一阶和二阶智能体组成的异质多智能体系统的组一致性问题.首先,在多时变时延异质系统中设计了实现静态组一致的控制算法;其次,运用稳定性理论和线性矩阵不等式,分别给出了无时延、同时具有通信与输入时延的异质多智能体系统实现组一致性的充分条件;再次,通过求解一组可行的线性矩阵不等式,得到了输入时延的容许上界,并得出了通信时延与异质多智能体系统的组一致性无关的结论;最后,仿真结果验证了理论结果的有效性.
The problem of group consistency of a class of heterogeneous multi-agent systems composed of first-order and second-order agents is studied.Firstly, a uniform control algorithm is designed for the static group in the multi-time varying delay system. Secondly, Stability theory and linear matrix inequality, the sufficient conditions for the consistency of a group of heterogeneous multi-agent systems with no delay and both communication and input delay are given. Thirdly, by solving a set of feasible linear matrix inequalities, The allowable upper bound of input delay is obtained, and the conclusion that the communication delay has nothing to do with the group consistency of heterogeneous multi-agent systems is obtained. Finally, the simulation results verify the validity of the theoretical results.