中文摘要：

为了揭示多智能体系统的群集行为特征,研究2阶时延多智能体系统的编队控制问题.假设多智能体系统的网络拓扑是有向图、且具有一个全局可达结点,在多智能体之间的信息传输存在通信时延、信息处理存在输入时延的情况下,研究移动多智能体系统的动态编队控制.通过分析多智能体系统的运动特性,建立具有不同通信时延和不同输入时延的多智能体系统的控制协议.采用频率域的Laplace变换,分析时延通信系统的频率特性.根据Greshgorin圆盘定理,研究闭环控制系统的特征方程.应用广义Nyquist判据,得到保证多智能体系统编队控制的收敛性条件.得到的收敛性条件是一个分散式条件,该条件只采用每个结点的局部信息,与其他结点无关.应用计算机仿真验证了结论的有效性.

英文摘要：

The formation control problem of second-order delayed multi-agent system was analyzed in order to reveal the swarming behavior of mobile agent system.The dynamic team of mobile multiple agents was researched with the hypothesis of the directed interconnected graph with a globally reachable node,and the diverse communication delays during the information transmission and the diverse input delays during the information processing.A control protocol with the diverse communication delays and the diverse input delays was presented by analyzing the movement characteristic of multi-agent system.The frequency feature of the delayed system was analyzed by applying the Laplace＇s transform of frequency domain.The characteristic equation of closed-loop control system was studied by utilizing the Greshgorin＇s disc theorem.The convergence condition to ensure the formation control of the delayed system was obtained based on the generalized Nyquist criterion.The condition was a decentralized condition that only applied the local information of every agent irrespective of the others.The computer simulations showed the validity of the results.