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《工程(英文)》 >> 2020年 第6卷 第6期 doi: 10.1016/j.eng.2020.05.006

正实特征值切换拓扑的一般线性多智能体动态系统稳定性

a State Key Lab of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China
b Department of Engineering Science, Balliol College, University of Oxford, Oxford OX1 3PJ, UK
c Department of Automation, Tsinghua University, Beijing 100084, China

收稿日期: 2018-01-30 修回日期: 2019-03-11 录用日期: 2019-07-31 发布日期: 2020-05-20

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摘要

时变的网络拓扑结构对多智能体系统的稳定性具有重要的影响。本文研究了在拓扑结构切换情况下,具有“领航者-跟随者”拓扑结构的一般线性多智能体动态系统的稳定性,并将其用于网联汽车的队列控制。为描述多智能体之间的信息交换,本文将切换拓扑建模为关联矩阵特征值均为正实数的有向图,利用黎卡提不等式设计了分布式控制率,并估算了闭环系统的收敛速度。研究提出了具有切换拓扑的多智能体系统稳定性充分判据,同时利用共同李雅普诺夫函数证明了该闭环系统的稳定性。将所得到的结论应用于网联汽车的队列控制,证明了所提出方法的有效性。

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