اجماع گروهی مبتنی‌بر رهبر سیستم‌های چند‌عاملی مرتبه‌کسری زمان‌گسسته با‌تاخیر‌زمانی

شناسنامه علمی شماره

نویسندگان

دانشکده مهندسی برق و کامپیوتر - دانشگاه آزاد اسلامی واحد خمینی شهر

چکیده

در این مقاله،­ اجماع گروهی مبتنی‌بر رهبر برای سیستم‌های چندعاملی مرتبه‌کسری زمان‌گسسته با تاخیر زمانی، بررسی­شده‌است. در ابتدا، دو گروه در نظر گرفته شده‌اند. سپس، مساله، به‌تعداد دلخواهی گروه نیز تعمیم­یافته‌است. عامل­ها، انتگرال­گیر­های مرتبه‌کسری زمان‌گسسته با تاخیر در ورودی، فرض شده‌اند. ارتباط بین عامل­ها با یک شبکه ارتباطی جهت­دار با ساختار ثابت، توصیف­شده‌است. مساله اجماع گروهی برای عامل­های ذکرشده، به تحلیل پایداری مجانبی برای یک سیستم مرتبه‌کسری زمان‌گسسته با تاخیر ، منجر­شده‌است. با توجه به این ایده، شرط لازم و کافی برای دستیابی به اجماع گروهی مبتنی‌بر رهبر،  بر حسب بهره‌های کنترلی عامل­ها، استخراج­شده‌است. همچنین مقدار بهینه بهره‌های کنترلی، برای کمینه‌کردن یک شاخص عملکرد خاص، محاسبه­شده‌است. شبیه‌سازی­های عددی، کارآیی روش پیشنهادی را نشان می‌دهند.

کلیدواژه‌ها


عنوان مقاله [English]

Leader-Following Group Consensus of Discrete-Time Fractional-Order Multi-Agent Systems with Time-Delay

نویسندگان [English]

  • E. Shahamatkhah
  • M. Tabatabaei
Department of Electrical Engineering, Khomeinishahr Branch, Islamic Azad University, Isfahan, Iran
چکیده [English]

In this paper, the leader-following group consensus of discrete-time fractional-order multi-agent systems with time-delay is studied. At First, two groups are considered. Then, the problem is extended to arbitrary number of groups. The agents are considered as discrete-time fractional order integrators with input time delay­. The interaction between agents is described with a directed communication graph with fixed topology. The group consensus problem for the considered agents leads to asymptotic stability analysis of a discrete-time fractional order system with time-delay. Based on this idea, the necessary and sufficient condition to reach the leader-following group consensus in terms of the controller gains of agents is extracted. Moreover, the optimal value of the controller gains is calculated to minimize a special performance index. Numerical simulations show the performance of the proposed method.

کلیدواژه‌ها [English]

  • Multi-agent systems
  • discrete-time fractional-order systems
  • leader-following consensus
  • group consensus
  • fractional-order integrator
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