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针对不确定二阶多智能体系统,研究了其鲁棒最优一致性问题.首先,基于每个智能体所获得的邻居信息,设计了一个使多智能体系统达到一致的控制协议.其次,研究了多智能体系统的最优一致性问题,给出了系统在满足一定性能指标下达到一致的条件.再次,基于该条件,利用Schur补引理和线性矩阵不等式技术,给出了不确定系统达到鲁棒最优一致的条件.最后,通过仿真验证了所得结果的可行性.
For the uncertain second-order multi-agent system, the problem of its robust optimal consistency is studied.Firstly, based on the neighbor information obtained by each agent, a control protocol to make the multi-agent system consistent is obtained.Secondly, The optimal consistency problem of multi-agent system is studied and the condition that the system achieves the same performance under certain performance is given.Furthermore, based on this condition, Schur complement compensation and linear matrix inequalities The system achieves the optimal condition of the optimal robustness.Finally, the feasibility of the obtained result is verified by simulation.