混合阶多智能体无向网络的拟平均一致性  

Quasi-Average Consensus in Undirected Networks of Multi-Agents with Mixed Order Integrators

作　　者：宋运忠[1] 谷明琴[1] 

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454003

出　　处：《控制工程》2009年第2期220-222,226,共4页Control Engineering of China

基　　金：863高科技计划基金资助项目(2007AA06Z221);国家自然科学基金资助项目(60643003;60702023;60774007;60774041);河南省基础与前沿技术研究计划基金资助项目(072300460050);河南理工大学博士基金资助项目(648606);河南理工大学青年骨干教师计划基金资助项目(649033);河南省教育厅自然科学计划基金资助项目(2008A120005)

摘　　要：为解决混合阶动态多智能体网络的拟平均一致性,将混合阶动态多智能体网络的拟平均一致性转化为增广的一阶多智能体网络的平均一致性,并给出相应一致性问题协议的定义,根据网络的拓扑结构连通性特点,运用代数图论、矩阵理论中的圆盘定理和李雅普诺夫理论证明了定拓扑和变拓扑无向网络下一致性协议的稳定性定理,并以由4个一阶智能体和2个二阶智能体所组成的混合阶智能体网络为例进行具体说明。理论研究和仿真结果都表明所提协议的正确性。In order to deal with quasi-consensus problem of heterogenous multiagent networks composed of mixed order nodes, the suggested problem is turned into average consensus realization of its homogeneous counterpart, i. e. the extended first order integrator multi-agent system. The protocol is putforward following the definition of the quasi-average consensus of mixed order multi-agent system. Stability theorem for undirected networks with fixed and switching topology is proved in virtue of algebra graph, disk teorm of matrix theory and quadratic Lyapunov function under frame of connectivity of the topology structure. Detailed description is further done to mixed order heterogeneous multi-agent networks made up of 4 first order agents and 2 second order agents. Both theoretical research and simulation results show the correctness of the addressed method.

关 键 词：一致性问题 异结构多智能体 拟平均一致 变拓扑 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]