论文标题
双积分器多构成系统在不均匀采样和拓扑变化下的共识
Consensus of Double Integrator Multiagent Systems under Nonuniform Sampling and Changing Topology
论文作者
论文摘要
本文考虑了在非均匀采样下具有双积分动力学的多基因系统的共识问题。可以任意选择最大抽样时间。此外，只要其相关图Laplacian在给定的区域中具有特征值，就可以将通信图更改为任何可能的拓扑结构，可以任意选择。当不断变化的拓扑图平衡并且具有跨度树时，显示了确保在此设置中达成共识的控制器的存在。同样，给出了控制器参数的明确界限。给出了一种新颖的条件，以解决基于将封闭环系统矩阵作为一般线性动力学的特定坐标系进行收缩，以解决共识问题。结果表明，在平衡拓扑图的情况下，给定条件立即概括为改变拓扑。该条件应用于双积分器动力学，以获得控制器上的明确界限。
This article considers consensus problem of multiagent systems with double integrator dynamics under nonuniform sampling. It is considered the maximum sampling time can be selected arbitrarily. Moreover, the communication graph can change to any possible topology as long as its associated graph Laplacian has eigenvalues in a given region, which can be selected arbitrarily. Existence of a controller that ensures consensus in this setting is shown when the changing topology graphs are balanced and has a spanning tree. Also, explicit bounds for controller parameters are given. A novel sufficient condition is given to solve the consensus problem based on making the closed loop system matrix a contraction using a particular coordinate system for general linear dynamics. It is shown that the given condition immediately generalizes to changing topology in the case of balanced topology graphs. This condition is applied to double integrator dynamics to obtain explicit bounds on the controller.
