基于有向网络的多智能体系统快速一致性  

Fast consensus for multi-agent systems in directed networks

作　　者：佘莹莹[1] 方华京[1] 

机构地区：[1]华中科技大学控制科学与工程系,武汉430074

出　　处：《控制与决策》2010年第7期1026-1030,共5页Control and Decision

基　　金：国家自然科学基金项目(60874053;60574088)

摘　　要：针对具有二次积分动态的多智能体系统在有向网络下的快速一致性问题,提出了基于智能体当前状态和过去状态的快速一致性协议.利用矩阵理论和频域分析法,分别给出了多智能体系统达到静态一致性和动态一致性的充要条件,同时得到该协议能够使系统分别快速地达到静态一致和动态一致的过去状态区间.仿真示例验证了所提出协议的有效性.For second-order multi-agent systems,a fast consensus protocol using both current states and outdated states is proposed. The fast consensus protocol is analyzed under a directed communication graph. Based on the frequently-domain analysis and matrix theory,the necessary and sufficient,condition for second-order multi-agent systems converging to stationary consensus and dynamical consensus are obtained respectively. Moreover,it is shown that the system converges to stationary consensus and dynamical consensus faster than the standard consensus protocol if the outdated states are chosen properly. Simulation results show the effectiveness of the protocol.

关 键 词：一致性 多智能体系统 协调控制 收敛速度 有向图 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]