CAJ | 학술논문

文中研究了具有随机时不变通信时延的多智能体系统的一致性问题。假设系统拓扑是固定有向的强连通图，考虑多智能体系统中存在随机通信时延的情况，即各智能体之间的通信时延是以一定概率存在的，采用具有动态参考状态的一致性控制算法，通过变量代换，将多智能体的一致性问题转化为误差系统的渐进稳定性问题，然后再应用Lyapunov稳定性理论与随机分析方法推导出误差系统在该算法作用下趋于稳定的充分条件，并以线性矩阵不等式( LMIs)表示，即原多智能体系统在此充分条件下各智能体的状态能够达到一致。应用一个实例验证了所提出结论的有效性。
문중연구료구유수궤시불변통신시연적다지능체계통적일치성문제。가설계통탁복시고정유향적강련통도，고필다지능체계통중존재수궤통신시연적정황，즉각지능체지간적통신시연시이일정개솔존재적，채용구유동태삼고상태적일치성공제산법，통과변량대환，장다지능체적일치성문제전화위오차계통적점진은정성문제，연후재응용Lyapunov은정성이론여수궤분석방법추도출오차계통재해산법작용하추우은정적충분조건，병이선성구진불등식( LMIs)표시，즉원다지능체계통재차충분조건하각지능체적상태능구체도일치。응용일개실례험증료소제출결론적유효성。
Study the consensus of multi-agent system with random constant time-delay in this paper. Assume that the system is fixed di-rected and connected graph,consider that there are random delays in the multi-agent system,which is the communication delay between each agent based on a certain probability,a consistence control algorithm with a dynamic reference state is adopted to solve the consensus problem of the multi-agent system,by taking the variable transformation,the consensus problem of the multi-agent system is converted into the asymptotical stability problem of an error system,some sufficient criteria for achieving the consensus via the suggested algorithm are derived with using Lyapunov stability analysis and stochastic analysis method and in the forms of linear matrix inequalities ( LMIs) , the states of the original multi-agent achieve consensus in the sufficient conditions. An example is used to show the validity of the results.