Ahmed Zahoor, Khan Muhammad Mansoor, Saeed Muhammad Abid, Zhang Weidong
Department of Automation, Shanghai Jiaotong University, Shanghai 200240, PR China.
Department of Electrical Engineering, Shanghai Jiaotong University, Shanghai, PR China.
ISA Trans. 2020 Jun;101:69-77. doi: 10.1016/j.isatra.2020.02.005. Epub 2020 Feb 5.
This paper describes consensus control of multi-agent systems (MAS) with input and communication delay in the frequency domain. Each agent of MAS is a linear continuous-time system. The considered linear dynamic model of each agent involves multiple input delays. An H controller is proposed for optimal performance and robustness of the MAS. The internal stability approach is employed to compute the H controller and the performance index of the overall MAS. A sufficient criterion is derived for gain and delay margin to reach convergence. The simulation paradigm shows the effectiveness of the proposed control scheme.
本文描述了频域中具有输入和通信延迟的多智能体系统（MAS）的一致性控制。MAS的每个智能体都是一个线性连续时间系统。所考虑的每个智能体的线性动态模型涉及多个输入延迟。提出了一种H控制器，以实现MAS的最优性能和鲁棒性。采用内部稳定性方法来计算H控制器和整个MAS的性能指标。推导了增益和延迟裕度达到收敛的充分准则。仿真范例表明了所提出控制方案的有效性。
