郭万里^*

（  中国地质大学（武汉）数理学院，武汉 430074；  ）

摘要： 本文研究了二阶非线性多智能体系统延迟群体一致性问题。整个多智能体系统被分成多个小的群体。对每个小群体,文中采用自适应控制协议”胁迫“追随者跟踪本群体的领导者,最终使得整个系统达到延迟群体一致性。在对系统拓扑结构的连通性不做任何限制情况下,得到了多个延迟群体一致性的充分条件。最后用两个具体例子验证了前面理论部分的正确性。
关键词： 延迟群体一致性；多智能体系统；自适应控制

GUO Wanli^*

（  College of Mathematics and Physics, China University of Geosciences, Wuhan 430074；  ）

Abstract： This paper studies the lag group consensus problem ofthe second-order nonlinear multi-agent systems. A protocol mixedwith the adaptive control approach is presented for agents to behindthe leader in each group at different times, so as to avoidcongestion. Without assuming that the topology is connected orweakly connected even there is rooted directed spanning tree,sufficient conditions for the lag group consensus are proposedanalytically. Moreover, it is shown that with the given protocol, nomatter what topology of the multi-agent system is, the lag groupconsensus can be obtained always. Finally, a simulation example isgiven to illustrate our theoretical analysis.
Keywords： Lag Group Consensus; Multi-agent Systems; AdaptiveControl Approach

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