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中文摘要：
假设每个个体接收信息产生的时延相同,且处理自身信息产生的时延不同,针对通信时延下具有有向对称通信网络的多智能体系统,提出了一个自时延比例-微分控制协议,使系统的状态最终趋于一致.基于频域分析法和奈氏判据,给出了系统状态收敛到一致的充分条件,并计算出了系统静态一致时平衡状态的具体表达式.在Matlab环境下进行了仿真实验,其结果验证了理论的正确性和有效性.
英文摘要：
It was assumed that each agent receives its own state information with a constant delay and receives state information from its neighbors with different constant delays respectively.A new consensus protocol,in which a self-proportional-differential（PD） control item was introduced,was proposed for multi-agent system converging to consensus with directed symmetrical communication network.Then a sufficient condition was derived.based on frequency domain analysis and Nyquist stability criterion for the convergence of the individual agents＇ states to a common value.A specific expression of static consensus equilibrium was also presented.Simulation experiments were done under the environment of Matlab.The results demonstrate the effectiveness of the theoretical results.
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