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研究二阶多智能体系统在固定、有向通信拓扑条件下的离散时间一致性问题。针对每个智能体,采用基于速度、位置的分布式控制协议,分析速度、位置增益系数以及采样周期等参数对系统一致性的影响。结果表明,要实现二阶多智能体系统的一致性控制,在保持个体之间通信拓扑有生成树的同时,控制协议中的各个参数还必须满足一定的约束条件。系统拉普拉斯矩阵的特征值和采样周期对系统能否实现渐近一致起到了关键的影响。最后,给出一致性控制中参数设计的一种可行方法,并通过仿真对理论分析的正确性进行验证。
The discrete-time consistency of second-order multi-agent systems under fixed and directed communication topologies is studied. For each agent, the distributed control protocol based on velocity and position is adopted to analyze the influence of parameters such as speed, position gain coefficient and sampling period on system consistency. The results show that in order to achieve the consistency control of the second-order multi-agent system, each parameter in the control protocol must meet certain constraints while keeping the topological spanning tree of communication topology between individuals. The eigenvalues and sampling periods of the system Laplacian matrix have a crucial impact on whether the system can achieve asymptotic uniformity. Finally, a feasible method of parametric design in conformance control is given, and the correctness of theoretical analysis is verified through simulation.