离散异质多智能体系统的分组一致性控制

Group Consensus Control of Discrete Heterogeneous Multi-Agent System

摘要:

针对一类混合异质多智能体系统的分组一致性控制问题进行了研究。具体分析了由一阶智能体和二阶智能体组成的混合异质系统，研究其在离散情况下的分组一致性。基于两个合理的假设提出了线性控制协议，运用代数图论、稳定性理论和矩阵理论，分析协议作用下闭环系统的系统矩阵及动态特性，取得了系统渐近实现分组一致性的充分条件，该条件与系统拓扑结构、采样周期以及控制参数有关。结论同时适用于有向拓扑与无向拓扑，最后通过仿真实例对所得分析结果进行了验证。

Abstract:

(School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)：The problem of the group consensus control for a class of hybrid heterogeneous multi-agent system is studied. Specifically, for hybrid heterogeneous systems consisting of first order agents and two order agents, the group consensus is researched in discrete case, and the linear control protocol is proposed based on two reasonable assumptions. The research uses algebraic graph theory, stability theory and matrix theory to analysis the system matrix and dynamic characteristics of the closed-loop system under the protocol, and obtains the sufficient condition to guarantee the class of hybrid heterogeneous multi-agent system to achieve the group consensus asymptotically. This conclusion applies not only to the topology, but also to non-directional topology only when the network topology meets the necessary conditions. Finally, the results are verified by simulation examples.