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研究带有多个时变时滞的一阶多智能体系统在有向网络拓扑下的H_∞包围控制问题.首先,通过引入收敛性向量函数,将所讨论问题转化为一般时滞系统的H_∞控制问题.然后,通过构造适当的Lyapunov-Krasovskii泛函,利用Lyapunov稳定性理论得到多智能体系统实现包围控制的充分条件,同时求得时变通信时滞的最大容许值.另外,在有外部干扰的情况下,得到了多智能体系统具有H_∞包围控制性能常数的充分条件.最后,通过数值仿真实验验证了所得结果的有效性.
The H_∞bounded control problem for first-order multi-agent systems with multiple time-varying delays under directed network topologies is studied.Firstly, by introducing a convergent vector function, the problems discussed are transformed into H_ ∞ control problem.Thirdly, by constructing the appropriate Lyapunov-Krasovskii functional and using Lyapunov stability theory, we obtain the sufficient conditions for the multi-agent system to realize the bracketing control and obtain the maximum allowable value of the time-varying communication delay.In addition, Under the condition of external disturbance, sufficient conditions for the performance of multi-agent system with H_∞bounded control performance are obtained.Finally, the numerical simulation results show the effectiveness of the results obtained.