具有两类时延的离散时间多智能体系统一致性跟踪

摘要

研究具有输入时延和通信时延的离散时间多智能体系统的一致性跟踪问题.利用频域分析方法和矩阵理论,给出拓扑为有向图的情况下系统具有较少保守性的一致性跟踪充分条件,并用仿真试验验证了该结果的有效性.与具有输入和通信时延的一致性问题不同的是,相同情况下的一致性跟踪问题不仅与输入时延有关,而且与通信时延有关.%This paper studied a consensus tracking problem for the discrete-time multi-agent systems with input and communication delays.Based on the frequency-domain analysis and matrix theory,a sufficient consensus tracking condition with less conservativeness was ob-tained under a topological directed graph.The simulation results were presented to show the effectiveness of the proposed method.Unlike consensus problems with input and communica-tion delays,the same-matter consensus tracking problem was not only dependent on input de-lays but also dependent on communication delays.