Hu Haiyun, Lin Zongli
Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, P.O. Box 400743, Charlottesville, VA 22904-4743, USA.
ISA Trans. 2017 Nov;71(Pt 1):10-20. doi: 10.1016/j.isatra.2017.01.002. Epub 2017 Feb 1.
In this paper, we study the consensus problem for a class of discrete-time nonlinear multi-agent systems. The dynamics of each agent is input affine and the agents are connected through a connected undirected communication network. Distributed control laws are proposed and consensus analysis is conducted both in the absence and in the presence of communication delays. Both theoretical analysis and numerical simulation show that our control laws ensure state consensus of the multi-agent system.
在本文中，我们研究了一类离散时间非线性多智能体系统的一致性问题。每个智能体的动力学是输入仿射的，并且智能体通过一个连通的无向通信网络相连。我们提出了分布式控制律，并在不存在和存在通信延迟的情况下进行了一致性分析。理论分析和数值模拟均表明，我们的控制律确保了多智能体系统的状态一致性。
