·786· 智能系统学报 第15卷 2089-2098 91-99 [13]葛超.基于改进型Lyapunov泛函的时滞系统稳定性新 [22]何逻辑，谢广明，文家燕，等.通信时滞下事件驱动多智 判据研究及应用D1秦皇岛：燕山大学，2014 能体系统环形编队控制.计算机应用研究，2020， GE Chao.Research and application of new stability criter- 37(6:1661-1665. ia for delay systems based on improved Lyapunov func- HE Luoji,XIE Guangming,WEN Jiayan,et al.Circle tional[D].Qinhuangdao:Yanshan University,2014 formation control of event-triggered multi-agent system [14]LIU C,LIU F.Consensus problem of second-order multi- with communication delay[J].Computer application re- agent systems with time-varying communication delay search,2020,37(6:1661-1665 and switching topology[J].Journal of systems engineer- [23]BAO Q,CHEUNG WK,ZHANG Y,et al.A component- ing and electronics,2011,22(4):672-678. based diffusion model with structural diversity for social [15]张晓丹，刘开恩，纪志坚.具有时变时滞多智能体系统 networks[J].IEEE transactions on cybernetics,2016. 二分一致性U.系统科学与数学，2018,38(8：841-851. 47(4)y:1078-1089 ZHANG Xiaodan,LIU Kaien,JI Zhijian.Dichotomous [24]MENG D,JIA Y,DU J.Nonlinear finite-time bipartite consistency of multi-agent systems with time-varying consensus protocol for multi-agent systems associated delay[J].Systems science and mathematics,2018,38(8): with signed graphs[J].International journal of control, 841-851 2015,88(10):2074-2085. [16]ZHANG Xiaodan,LIU Kaien,JI Zhijian.Bipartite con- sensus for multi-Agent systems with time-varying delays [25]TIAN Y P,LIU C L.Consensus of multi-agent systems based on method of delay partitioning[J].IEEE access, with diverse input and communication delays[J].IEEE 2019,7(99):29285-29294. transactions on automatic control,2008,53(9): [17]FATTAHI M.,AFSHAR A Distributed consensus of 2122-2128. multi-agent systems with input faults and time-varying 作者简介： delays[J].Asian journal of control,2018,20(4): 冀秀坤，硕士研究生，主要研究方 1682-1685 向为多智能体系统。 [18]WEN J,WANG C,XIE G.Asynchronous distributed event-triggered circle formation of multi-agent systems[J].Neurocomputing,2018,295:118-126. [19]徐鹏，谢广明，文家燕，等.事件驱动的强化学习多智能 体编队控制.智能系统学报，2019,14(1)93-98. XU Peng,XIE Guangming,WEN Jiayan,et al.Event- 谢广明，教授，博士生导师，兼任 triggered reinforcement learning formation control for 中国自动学会机器人竞赛工作委员会 multi-agent[J].CAAI transactions on intelligent systems, 副主任，国际水中机器人联盟创始人， 2019,14(193-98. 主要研究方向为复杂系统动力学与控 制、智能仿生机器人多机器人系统与 [20]王世丽，金英花，吴晨.带通信时滞的多智能体系统的 控制。现主持包括国家自然科学基金 群集运动.计算机工程与应用，2017,53(23)：24-28， 重点项目等8项，获发明专利授权 50. 20余项。曾荣获国家自然科学奖二等奖、教育部自然科学 WANG Shili,JIN Yinghua.WU Chen.Swarm motion of 奖一等奖、吴文俊人工智能科学技术奖创新奖二等奖，发表 multi-agent systems with communication delay[J].Com- 学术论文200余篇。 puter engineering and applications,2017,53(23):24-28, 50 文家燕，副教授，博土，主要研究 方向为事件驱动控制、多智能体编队 [21]雷明，马培蓓，王娟.具有输入约束和通信时滞的多智 控制。任中国自动化学会青年工作委 能体编队鲁棒镇定).战术导弹技术，2018(3)：91-99. 员会委员，广西省自动化学会理事。 LEI Ming,MA Peibei,WANG Juan.Robust stabilization 现主持国家自然科学基金及省部级项 of multi-agent formation with input constraints and com- 目4项，获专利授权5项，发表学术论 munication delay[J].Tactical missile technology,2018(3): 文25篇。2089–2098. 葛超. 基于改进型 Lyapunov 泛函的时滞系统稳定性新 判据研究及应用 [D].秦皇岛：燕山大学, 2014. GE Chao. Research and application of new stability criter￾ia for delay systems based on improved Lyapunov func￾tional[D]. Qinhuangdao: Yanshan University, 2014 [13] LIU C, LIU F. Consensus problem of second-order multi￾agent systems with time-varying communication delay and switching topology[J]. Journal of systems engineer￾ing and electronics, 2011, 22(4): 672–678. [14] 张晓丹, 刘开恩, 纪志坚. 具有时变时滞多智能体系统 二分一致性 [J]. 系统科学与数学, 2018, 38(8): 841–851. ZHANG Xiaodan, LIU Kaien, JI Zhijian. Dichotomous consistency of multi-agent systems with time-varying delay[J]. Systems science and mathematics, 2018, 38(8): 841–851. [15] ZHANG Xiaodan, LIU Kaien, JI Zhijian. Bipartite con￾sensus for multi-Agent systems with time-varying delays based on method of delay partitioning[J]. IEEE access, 2019, 7(99): 29285–29294. [16] FATTAHI M., AFSHAR A Distributed consensus of multi-agent systems with input faults and time-varying delays[J]. Asian journal of control, 2018, 20(4): 1682–1685. [17] WEN J, WANG C, XIE G. Asynchronous distributed event-triggered circle formation of multi-agent systems[J]. Neurocomputing, 2018, 295: 118–126. [18] 徐鹏, 谢广明, 文家燕, 等. 事件驱动的强化学习多智能 体编队控制 [J]. 智能系统学报, 2019, 14(1): 93–98. XU Peng, XIE Guangming, WEN Jiayan, et al. Event￾triggered reinforcement learning formation control for multi-agent[J]. CAAI transactions on intelligent systems, 2019, 14(1): 93–98. [19] 王世丽, 金英花, 吴晨. 带通信时滞的多智能体系统的 群集运动 [J]. 计算机工程与应用, 2017, 53(23): 24–28, 50. WANG Shili, JIN Yinghua, WU Chen. Swarm motion of multi-agent systems with communication delay[J]. Com￾puter engineering and applications, 2017, 53(23): 24–28, 50. [20] 雷明, 马培蓓, 王娟. 具有输入约束和通信时滞的多智 能体编队鲁棒镇定 [J]. 战术导弹技术, 2018(3): 91–99. LEI Ming, MA Peibei, WANG Juan. Robust stabilization of multi-agent formation with input constraints and com￾munication delay[J]. Tactical missile technology, 2018(3): [21] 91–99. 何逻辑, 谢广明, 文家燕,等. 通信时滞下事件驱动多智 能体系统环形编队控制 [J]. 计算机应用研究, 2020, 37(6): 1661–1665. HE Luoji, XIE Guangming, WEN Jiayan, et al. Circle formation control of event-triggered multi-agent system with communication delay[J]. Computer application re￾search, 2020, 37(6): 1661–1665. [22] BAO Q, CHEUNG W K, ZHANG Y, et al. A component￾based diffusion model with structural diversity for social networks[J]. IEEE transactions on cybernetics, 2016, 47(4): 1078–1089. [23] MENG D, JIA Y, DU J. Nonlinear finite-time bipartite consensus protocol for multi-agent systems associated with signed graphs[J]. International journal of control, 2015, 88(10): 2074–2085. [24] TIAN Y P, LIU C L. Consensus of multi-agent systems with diverse input and communication delays[J]. IEEE transactions on automatic control, 2008, 53(9): 2122–2128. [25] 作者简介： 冀秀坤，硕士研究生，主要研究方 向为多智能体系统。 谢广明，教授，博士生导师，兼任 中国自动学会机器人竞赛工作委员会 副主任，国际水中机器人联盟创始人， 主要研究方向为复杂系统动力学与控 制、智能仿生机器人多机器人系统与 控制。现主持包括国家自然科学基金 重点项目等 8 项，获发明专利授权 20 余项。曾荣获国家自然科学奖二等奖、教育部自然科学 奖一等奖、吴文俊人工智能科学技术奖创新奖二等奖,发表 学术论文 200 余篇。 文家燕，副教授，博士，主要研究 方向为事件驱动控制、多智能体编队 控制。任中国自动化学会青年工作委 员会委员，广西省自动化学会理事。 现主持国家自然科学基金及省部级项 目 4 项，获专利授权 5 项，发表学术论 文 25 篇。 ·786· 智 能 系 统 学 报 第 15 卷