线性及非线性一致性问题综述  

A survey of linear and nonlinear consensus problems in multi-agent systems

作　　者：许耀赆 田玉平[1] 

机构地区：[1]东南大学自动化学院

出　　处：《控制理论与应用》2014年第7期837-849,共13页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61273110);高等学校博士学科点专项科研基金资助项目(20130092130002)

摘　　要：本文综述多自主体系统线性及非线性一致性问题.首先,从自主体动态、通信拓扑和一致性协议这3个方面介绍一致性问题的基本问题.接着,从一致性问题的分析方法入手,对目前一致性问题的研究结果进行分类和讨论.然后阐释经典一致性协议是负的次梯度算法这一实质,并给出一种一致性协议的设计方法.最后列举了仍然需要解决的问题和未来的研究方向.We present the survey result of linear and nonlinear consensus problems in multi-agent systems.First,these problems are elaborated in terms of the agent dynamics,communication topology and consensus protocol.Then,the state of the art on consensus is discussed from the perspective of analysis approaches.Moreover,the essence of the classical consensus protocol is found to be a negative sub-gradient algorithm,and an approach of consensus protocol design is presented.Finally,the problems to be solved in future research directions are pointed out.

关 键 词：多自主体系统 一致性 非线性控制 负次梯度算法 

分 类 号：O231[理学—运筹学与控制论]