论文标题
异质多机构系统的强大积极共识
Robust Positive Consensus for Heterogeneous Multi-agent Systems
论文作者
论文摘要
本文研究了一类受外部投入的异质高阶多代理系统的强大积极共识问题。与现有的多代理共识结果相比，该法式问题的最不同特征是所有异质剂的状态变量被限制在正矫正中。为了解决这个问题，我们提出了一个两步的设计程序。通过将辅助多代理系统构造为正局部参考生成器，我们将参考生成器纳入了每个代理的某些适用的分散稳健跟踪控制器中。事实证明，所提出的分布式算法可确保在开关拓扑下在开关拓扑下达到某些规定的模式，从而在有限增强的稳定性方面相对于外部输入。最终给出了一个模拟示例，以说明我们设计的有效性。
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To solve this problem, we present a two-step design procedure. By constructing an auxiliary multi-agent system as positive local reference generators, we incorporate the reference generator into some applicable decentralized robust tracking controller for each agent. The proposed distributed algorithm is proven to ensure a robust consensus fulfilling certain prescribed pattern for the multi-agent system under switching topology in the sense of finite-gain stability with respect to the external inputs. A simulation example is finally given to illustrate the effectiveness of our design.
