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针对存在全局可达节点有向加权图的静态网络,研究了在控制算法中引入不同权重的当前状态和时延状态时多智能体系统一致性问题.通过采用频域控制理论中广义Nyquist准则和Gerschgorin圆盘定理,证明了系统渐近稳定收敛到一致性的充分条件,提出一种改进系统实现一致性的最大时延上界方法;最后通过数值仿真验证了结论的正确性.
Aiming at the static network with globally weighted directed graphs of globally reachable nodes, the consistency problems of multi-agent systems with different weights of current and delay states are studied. By using the generalized Nyquist criterion in frequency domain control theory and Gerschgorin disc theorem, a sufficient condition for the asymptotic stability of the system to converge to the consistency is proved. A maximum delay bound method to improve the consistency of the system is proposed. Finally, the correctness of the conclusion is verified by numerical simulation.