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考虑具有多个时变时延和外部噪声干扰的一阶多智能体系统H∞一致性问题,分别讨论了固定和变化网络拓扑情形.首先,对原来的系统作一个模型变换使之转化为一个降阶的子系统;其次,根据得到的降阶系统,通过构建适当的Lyapunov函数,得到了所有智能体状态达到一致并满足期望的H∞性能的充分条件.仿真结果验证了所提出的一致性协议的正确性和有效性.
Considering H ∞ conformance problems of first-order multi-agent systems with multiple time-varying delays and external noise disturbances, the fixed and changing network topologies are discussed separately. First, a model transformation of the original system is made to convert it into a Order subsystems.Secondly, according to the reduced order system obtained by constructing the appropriate Lyapunov function, the sufficient conditions for all H∞ states to achieve the desired H∞ performance are obtained.The simulation results verify the proposed consistency The correctness and validity of the agreement.