具有通信时延的离散时间二阶多自主体系统eylkyi2m.doc

具有通信时延的离散时间二阶多自主体系统 的补偿一致性算法 刘成林 轻工过程先进控制教育部重点实验室, 江南大学自动化研究所, 江苏 无锡 214122 摘要：针对具有通信时延的离散时间二阶多自主体系统系统的动态一致性问题，本文通过在常 规异步耦合一致性算法中引入邻居状态状态补偿来构造一致性算法。利用频域方法分析两个耦 合个体的一致性收敛，可得出补偿算法比常规异步耦合算法能容忍更大通信时延。根据线性分 式变换和小增益定理，得到一般有向拓扑结构下具有通信时延的离散时间二阶多自主体系统的 充分条件。仿真结果证明了结论的正确性。 关键词：一致性，补偿算法，通信时延，二阶多自主体系统 中图分类号： TP242 Compensation-based consensus algorithm for discrete-time second-order multi-agent systems under communication delay Liu Cheng-Lin Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University, Wuxi 214122 China Abstract: Consensus algorithm, which is constructed by introducing compensation on the neighboring agents’ delayed states into the normal asynchronously-coupled consensus algorithm, is proposed to solve the dynamical consensus problem of discrete-time second-order multi-agent systems with communication delay. By analyzing the consensus convergence of two coupled-agents according to frequency-domain analysis, we come to the conclusion that the compensation-based algorithm can endure higher communication delay than the synchronously-coupled consensus algorithm. Based on linear fractional transformation and the small-gain theorem, su?cient conditions are gained for discrete-time second-order multi-agent systems with communication delay under a general digraph. Simulation illustrates the correctness of the results. Key words: Consensus, compensation-based algorithm, communication delay, second-order multi-agent systems, 基金项目： Specialized Research Fund for the Doctoral Program of Higher Education of China (20090093120006) 作者简介： Liu Cheng-Lin（1981-），male，associate professor，major research direction：coordination control of multi-agent systems. 0 Introduction In the last decade, coordination control of multi-agent systems based on communication network has attracted more and more attention for the rapid development of automatic control and communication technology. As one of the most important