离散时间混合多智能体的拟平均一致性控制  

Quasi-average-consensus control of hybrid swarm agents with discrete time

作　　者：李波 吴淑琴 谷明琴[2] 

机构地区：[1]郑州威科姆科技股份有限公司卫星定位应用工程技术研究中心,河南郑州450000 [2]中南大学信息工程学院,湖南长沙410083

出　　处：《智能系统学报》2012年第4期352-357,共6页CAAI Transactions on Intelligent Systems

摘　　要：为了研究混合一阶和二阶异质无向多智能体网络离散时间一致性问题,提出了固定和可变拓扑结构的多智能体网络的拟平均一致性协议.根据Lyapunov函数和代数图论,分析了多智能体网络的稳定性,表明在固定和可变拓扑结构的情况下,混合阶多智能体系统可以达到拟平均一致.对6个节点组成的4种不同的无向网络拓扑结构进行了仿真,结果显示了变拓扑离散时间异质多智能体网络的位置和速度均能达到拟平均一致.仿真结果表明,该算法对混合阶多智能体网络的拟平均一致性控制有效.The consensus problem of time discrete for undirected multi-agent networks with heterogeneous nodes of mixed first and second order integrators was covered in this paper.Corresponding quasi-average-consensus protocol was proposed for both fixed and switching topology cases.The stability of a multi-agent network was analyzed according to the Lyapunov function and algebra graph theory,and it was suggested that the mixed order multi-agent system can reach a quasi-average-consensus in a fixed and variable topology structure.Four different topologies of the network structure with 6 nodes were simulated,and the results show that the position and velocity of the discrete time variable topology of a heterogeneous multi-agent network can reach a quasi-average-consensus.The simulation results show that the algorithm is effective for quasi-average-consensus control of mixed order multi-agent networks.

关 键 词：一致性问题 异质多智能体 拟平均一致性 离散时间 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]