Practical consensus for high-order linear time-invariant swarm systems with interaction uncertainties, time-varying delays and external disturbances

被引：45
作者：
Dong, Xiwang [1 ]
Xi, Jianxiang [1 ,2 ]
Shi, Zongying [1 ]
Zhong, Yisheng [3 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] High Tech Inst Xian, Xian 710025, Peoples R China
[3] Tsinghua Univ, TNList, Dept Automat, Beijing 100084, Peoples R China
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2013年 / 44卷 / 10期
基金：
中国国家自然科学基金;
关键词：
practical consensus; swarm system; external disturbance; time-varying delay; interaction uncertainty; MULTIAGENT SYSTEMS; COOPERATIVE CONTROL; AUTONOMOUS AGENTS; COMMUNICATION; LEADER; SYNCHRONIZATION; COORDINATION; ALGORITHMS; STABILITY; FLOCKING;
D O I：
10.1080/00207721.2012.670296
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Practical consensus problems for general high-order linear time-invariant swarm systems with interaction uncertainties and time-varying external disturbances on directed graphs are investigated in this article. A dynamic consensus protocol with non-uniform time-varying delays is adopted to deal with the practical consensus problem. Using state space decomposition, practical consensus problems of a swarm system are converted into stability problems of a disagreement subsystem. Based on the Lyapunov-Krasovskii functional approach and the linear matrix inequality technique, sufficient conditions for swarm systems to achieve practical consensus are proposed where the time-varying external disturbance can be in L-2 or L. Numerical simulations are presented to demonstrate theoretical results.
引用
收藏
页码：1843 / 1856
页数：14
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