CAJ | 학술논문

研究了一类具有动态领导者并且存在时变耦合时滞的多主体系统的一致性问题.在所考虑的模型中,领导者的速度不能被精确量测.为了跟踪这样一个领导者主体,将对每个跟随者主体构造分散式状态估计器以及设计基于邻居的控制器;同时,由于耦合时滞的存在,基于邻居的控制器和状态估计器均包含了时变时滞的作用.当多主体系统的耦合拓扑是固定的或切换的有向图时,跟随者与领导者之间的跟踪误差得到了估计.特别地,可以证明,当动态领导者的速度可以被精确量测时,每一个跟随者都能够跟踪上领导者.
연구료일류구유동태령도자병차존재시변우합시체적다주체계통적일치성문제.재소고필적모형중,령도자적속도불능피정학량측.위료근종저양일개령도자주체,장대매개근수자주체구조분산식상태고계기이급설계기우린거적공제기;동시,유우우합시체적존재,기우린거적공제기화상태고계기균포함료시변시체적작용.당다주체계통적우합탁복시고정적혹절환적유향도시,근수자여령도자지간적근종오차득도료고계.특별지,가이증명,당동태령도자적속도가이피정학량측시,매일개근수자도능구근종상령도자.
This paper considers the consensus problem of multi-agent systems with an active leader and time-varying delay. In our problem, the velocity of the leader can not be measured precisely. To track such a leader, a decentralized state-estimation rule is constructed for each agent, which is used to design local controllers. Due to the interconnection delays, both neighbor-based control rules and stateestimation rules involve time-varying delays. Moreover, with the directed (fixed or variable )interconnection topologies described by digraphs, the leader-following errors are estimated. Particularly,it is proved that each agent can track the leader if the input of the active leader is precisely known.