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针对具有二次积分动态的多智能体系统在有向网络下的快速一致性问题,提出了基于智能体当前状态和过去状态的快速一致性协议.利用矩阵理论和频域分析法,分别给出了多智能体系统达到静态一致性和动态一致性的充要条件,同时得到该协议能够使系统分别快速地达到静态一致和动态一致的过去状态区间.仿真示例验证了所提出协议的有效性.
Aiming at the problem of fast consistency of multi-agent systems with quadratic integral dynamics in directed networks, a fast consistency protocol based on the current and past states of agents is proposed. Using matrix theory and frequency domain analysis, The necessary and sufficient conditions for the multi-agent system to reach the static consistency and the dynamic consistency are obtained, at the same time, the protocol can make the system reach the static consistency and the dynamic consistency interval respectively in the past.A simulation example is given to verify the validity of the proposed protocol.