混合阶异质多智能体系统由静态领导者和一阶、二阶和三阶积分器型跟随者组成.首先,在无向和有向通讯网络条件下,利用设计线性滤波器的方法提出了一致性协议;其次,基于李雅普诺夫直接法、拉塞尔不变集原理和矩阵理论证明了协议的可行性;最后,通过2个仿真算例验证了所得结论的有效性.
The mixed-order heterogeneous multi-agent systems are composed of a static leader and a first-order, second-order and third-order integrator follower. Firstly, under the condition of undirected and directed communication networks, the consistency protocols are proposed by using the method of designing linear filters. Secondly, the feasibility of the protocol is proved based on Lyapunov direct method, Russell invariant set principle and matrix theory. Finally, the validity of the conclusions is verified by two simulation examples.
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