摘要翻译：
本文给出了具有非切换动力学的饱和二阶多智能体系统的一致性，该系统可以用有向图表示。系统受到数据处理（输入延迟）和通信时延的影响，这些时延假定是异步的。这些智能体具有饱和非线性，每个智能体都被近似成独立的线性和非线性元素。非线性元素用描述函数表示。利用描述函数和线性元的稳定性来估计具有多个控制律的系统的极限环的存在性。利用Lyapunov-Krasovskii函数和频域分析对线性单元进行了稳定性分析。从时滞范围、适用性和计算复杂度等方面比较了两种分析方法的优缺点。仿真和相应的硬件实现结果证明了理论结果的支持。
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英文标题：
《Consensus of second order multi-agents with actuator saturation and
  asynchronous time-delays》
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作者：
Venkata Karteek Yanumula, Indrani Kar and Somanath Majhi
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最新提交年份：
2017
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分类信息：

一级分类：Computer Science        计算机科学
二级分类：Multiagent Systems        多智能体系统
分类描述：Covers multiagent systems, distributed artificial intelligence, intelligent agents, coordinated interactions. and practical applications. Roughly covers ACM Subject Class I.2.11.
涵盖多Agent系统、分布式人工智能、智能Agent、协调交互。和实际应用。大致涵盖ACM科目I.2.11类。
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一级分类：Computer Science        计算机科学
二级分类：Systems and Control        系统与控制
分类描述：cs.SY is an alias for eess.SY. This section includes theoretical and experimental research covering all facets of automatic control systems. The section is focused on methods of control system analysis and design using tools of modeling, simulation and optimization. Specific areas of research include nonlinear, distributed, adaptive, stochastic and robust control in addition to hybrid and discrete event systems. Application areas include automotive and aerospace control systems, network control, biological systems, multiagent and cooperative control, robotics, reinforcement learning, sensor networks, control of cyber-physical and energy-related systems, and control of computing systems.
cs.sy是eess.sy的别名。本部分包括理论和实验研究，涵盖了自动控制系统的各个方面。本节主要介绍利用建模、仿真和优化工具进行控制系统分析和设计的方法。具体研究领域包括非线性、分布式、自适应、随机和鲁棒控制，以及混合和离散事件系统。应用领域包括汽车和航空航天控制系统、网络控制、生物系统、多智能体和协作控制、机器人学、强化学习、传感器网络、信息物理和能源相关系统的控制以及计算系统的控制。
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一级分类：Electrical Engineering and Systems Science        电气工程与系统科学
二级分类：Systems and Control        系统与控制
分类描述：This section includes theoretical and experimental research covering all facets of automatic control systems. The section is focused on methods of control system analysis and design using tools of modeling, simulation and optimization. Specific areas of research include nonlinear, distributed, adaptive, stochastic and robust control in addition to hybrid and discrete event systems. Application areas include automotive and aerospace control systems, network control, biological systems, multiagent and cooperative control, robotics, reinforcement learning, sensor networks, control of cyber-physical and energy-related systems, and control of computing systems.
本部分包括理论和实验研究，涵盖了自动控制系统的各个方面。本节主要介绍利用建模、仿真和优化工具进行控制系统分析和设计的方法。具体研究领域包括非线性、分布式、自适应、随机和鲁棒控制，以及混合和离散事件系统。应用领域包括汽车和航空航天控制系统、网络控制、生物系统、多智能体和协作控制、机器人学、强化学习、传感器网络、信息物理和能源相关系统的控制以及计算系统的控制。
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英文摘要：
  This article presents the consensus of a saturated second order multi-agent system with non-switching dynamics that can be represented by a directed graph. The system is affected by data processing (input delay) and communication time-delays that are assumed to be asynchronous. The agents have saturation nonlinearities, each of them is approximated into separate linear and nonlinear elements. Nonlinear elements are represented by describing functions. Describing functions and stability of linear elements are used to estimate the existence of limit cycles in the system with multiple control laws. Stability analysis of the linear element is performed using Lyapunov-Krasovskii functions and frequency domain analysis. A comparison of pros and cons of both the analyses with respect to time-delay ranges, applicability and computation complexity is presented. Simulation and corresponding hardware implementation results are demonstrated to support theoretical results.
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PDF链接：
https://arxiv.org/pdf/1709.00951