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Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

机译：具有快速切换拓扑的不确定多代理系统的鲁棒无领导共识

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摘要

This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.
机译：本文研究了具有定向快速切换拓扑的不确定多主体系统的鲁棒无领导者共识问题。假定拓扑共同包含有向生成树。基于图拉普拉斯矩阵的特殊性质，通过执行适当的变量变换，将共识问题转换为稳定问题。采用平均法进行分析。事实证明，如果拓扑切换速度足够快并且控制器经过适当设计，即使在切换时间间隔内所有可能的拓扑都未连接时，仍然可以实现鲁棒的无领导者共识。最后，提供了一个数值模拟来说明理论结果的有效性。

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  • 来源
    《Mathematical Problems in Engineering》 |2015年第21期|810950.1-810950.6|共6页
  • 作者

    Liu Wei; Zhou Shaolei; Yan Shi; Yin Gaoyang;

  • 作者单位

    Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai 264001, Peoples R China;

    Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai 264001, Peoples R China;

    Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai 264001, Peoples R China;

    Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai 264001, Peoples R China;

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