具有Lipschitz非线性动力学的多智能体系统的全局$H_\infty$一致性
Global $H_\infty$ Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics
AI总结：
针对具有Lipschitz非线性和有向通信图的多智能体系统，提出基于相邻智能体相对状态的分布式一致性协议，通过两步算法实现无扰动下的全局一致性，并进一步设计协议保证外部扰动下的$H_\infty$性能。
摘要：
本文通过使用基于相邻智能体相对状态的分布式一致性协议，研究了一类具有Lipschitz非线性和有向通信图的非线性多智能体系统的全局一致性问题。提出了一种两步算法来构造协议，在该协议下，无扰动的Lipschitz多智能体系统对于强连通有向通信图能够达到全局一致性。然后给出了另一种算法来设计协议，该协议能够为受外部扰动的Lipschitz多智能体系统实现具有保证$H_\infty$性能的全局一致性。还讨论了具有领导者-跟随者通信图的情况。最后，通过单连杆机械臂网络验证了理论结果的有效性。
英文摘要：
This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of neighboring agents. A two-step algorithm is presented to construct a protocol, under which a Lipschitz multi-agent system without disturbances can reach global consensus for a strongly connected directed communication graph. Another algorithm is then given to design a protocol which can achieve global consensus with a guaranteed $H_\infty$ performance for a Lipschitz multiagent system subject to external disturbances. The case with a leader-follower communication graph is also discussed. Finally, the effectiveness of the theoretical results is demonstrated through a network of single-link manipulators.
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