IEEE Trans Cybern. 2017 Jun;47(6):1523-1531. doi: 10.1109/TCYB.2016.2550612. Epub 2016 Apr 13.
This paper is concerned with the sampled-data-based consensus problem of heterogeneous multiagent systems under directed graph topology with communication failure. The heterogeneous multiagent system consists of first-order and second-order integrators. Consensus of the heterogeneous multiagent system may not be guaranteed if the communication failure always happens. However, if the frequency and the length of the communication failure satisfy certain conditions, consensus of the considered system can be reached. In particular, we introduce the concepts of communication failure frequency and communication failure length. Then, with the help of the switching technique and the Lyapunov stability theory, sufficient conditions are derived in terms of linear matrix inequalities, which guarantees that the heterogeneous multiagent system not only achieves consensus but also maintains a desired L -gain performance. A simulation example is given to show the effectiveness of the proposed method in this paper.
本文研究了具有有向图拓扑结构和通信故障的异类多智能体系统的基于采样数据的一致性问题。异类多智能体系统由一阶和二阶积分器组成。如果通信故障总是发生，异类多智能体系统的一致性可能无法保证。然而，如果通信故障的频率和长度满足一定条件，则可以实现所考虑系统的一致性。特别是，我们引入了通信故障频率和通信故障长度的概念。然后，借助切换技术和 Lyapunov 稳定性理论，以线性矩阵不等式的形式给出了充分条件，保证了异类多智能体系统不仅能够实现一致性，还能够保持期望的 L -增益性能。通过一个仿真例子验证了本文所提方法的有效性。
