具有非同步时滞和饱和执行器的二阶多智能体一致性
Consensus of second order multi-agents with actuator saturation and asynchronous time-delays
摘要：
本文提出了一个饱和的二阶多智能体系统的非切换动态，可以表示为一个有向图的共识。系统受数据处理（输入延迟）和通信时间延迟的影响，这些延迟被假定为异步的。代理具有饱和非线性，他们中的每一个被近似为单独的线性和非线性元素。非线性元件用描述函数表示。利用描述函数和线性元的稳定性来判断多控制律系统极限环的存在性。使用Lyapunov-Krasovskii函数和频域分析进行线性元件的稳定性分析。从时延范围、适用性和计算复杂度等方面比较了两种分析方法的优缺点。仿真和相应的硬件实现结果证明支持理论结果。
英文摘要：
This article presents the consensus of a saturated second order multi-agent system with non-switching dynamics that can be represented by a directed graph. The system is affected by data processing (input delay) and communication time-delays that are assumed to be asynchronous. The agents have saturation nonlinearities, each of them is approximated into separate linear and nonlinear elements. Nonlinear elements are represented by describing functions. Describing functions and stability of linear elements are used to estimate the existence of limit cycles in the system with multiple control laws. Stability analysis of the linear element is performed using Lyapunov-Krasovskii functions and frequency domain analysis. A comparison of pros and cons of both the analyses with respect to time-delay ranges, applicability and computation complexity is presented. Simulation and corresponding hardware implementation results are demonstrated to support theoretical results.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
