IEEE Trans Cybern. 2017 Aug;47(8):2089-2098. doi: 10.1109/TCYB.2016.2616020. Epub 2016 Oct 21.
The consensus problem for second-order multiagent systems with absolute velocity damping under directed topologies is investigated. In contrast to the existing results, which rely on a sufficiently large common absolute velocity damping gain above a lower bound dependent on global information, this paper focuses on novel algorithms to overcome this limitation. A novel consensus algorithm, where different agents use different absolute velocity damping gains, is first proposed. In the absence of delays, based on a system transformation method, the consensus problem for second-order multiagent systems is converted into that for first-order multiagent systems with the agent number doubled. Necessary and sufficient conditions are then derived under directed topologies by relating the topologies associated with the doubled number of agents and the original team of agents. In the presence of multiple constant delays, based on a further system transformation method, the consensus problem for second-order multiagent systems is converted into the stability problem for corresponding systems. Necessary and sufficient conditions are presented to guarantee consensus under a directed fixed topology. For systems with a uniform constant delay, more concrete necessary and sufficient conditions on how large the delay can be to guarantee consensus is given. Numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.
研究了在有向拓扑结构下具有绝对速度阻尼的二阶多智能体系统的共识问题。与现有结果不同，这些结果依赖于全局信息下大于下界的足够大的公共绝对速度阻尼增益，本文重点研究了克服这一限制的新算法。首先提出了一种新的共识算法，其中不同的智能体使用不同的绝对速度阻尼增益。在没有延迟的情况下，基于系统变换方法，将二阶多智能体系统的共识问题转化为双倍智能体数量的一阶多智能体系统的共识问题。然后通过将与双倍智能体数量相关的拓扑结构与原始智能体团队相关联，在有向拓扑结构下推导出必要和充分条件。在存在多个常数延迟的情况下，基于进一步的系统变换方法，将二阶多智能体系统的共识问题转化为相应系统的稳定性问题。给出了保证有向固定拓扑结构下共识的必要和充分条件。对于具有统一常数延迟的系统，给出了保证共识的延迟可以有多大的更具体的必要和充分条件。数值模拟结果表明了所得到的理论结果的有效性。
