IEEE Trans Cybern. 2017 Aug;47(8):2173-2184. doi: 10.1109/TCYB.2017.2674698. Epub 2017 May 16.
This paper studies the problem of consensus tracking for heterogeneous discrete-time networked multiagent systems (NMASs) with network-induced communication delay. By introducing the networked predictive control scheme, novel consensus tracking protocols are designed to ensure that states of the NMASs follow the external reference signal. One of the agents is defined as the leader agent, all the other agents are defined as the followers, and the external reference signal is always known by the leader agent, both cases where the external reference signal is available and unavailable to the follower agents are discussed in this paper. The necessary and sufficient conditions for the novel consensus tracking protocols are proposed based on algebraic and graph theory. Numerical examples are given to validate the theoretical results.
本文研究了具有网络诱导通信延迟的异构离散时间多智能体系统（NMASs）的一致性跟踪问题。通过引入网络预测控制方案，设计了新的一致性跟踪协议，以确保 NMASs 的状态跟踪外部参考信号。其中一个智能体被定义为领导者智能体，所有其他智能体被定义为跟随者智能体，本文讨论了外部参考信号可被领导者智能体获取和不可被跟随者智能体获取两种情况。基于代数学和图论，提出了新的一致性跟踪协议的必要和充分条件。通过数值例子验证了理论结果。
