一类离散时间异构多智能体系统的一致平衡点分析  

Consensus equilibrium point analysis for a class of discrete-time heterogeneous multi-agent systems

作　　者：孙一杰[1,2] 张国良[1] 张胜修 曾静[3] 

机构地区：[1]第二炮兵工程大学控制工程系 [2]中国人民解放军96211部队 [3]第二炮兵工程大学理学院

出　　处：《控制与决策》2015年第8期1479-1484,共6页Control and Decision

基　　金：陕西省自然科学基金项目(2012K06-45)

摘　　要：针对包含一阶二阶智能体的异构系统,提出一种线性一致性协议.利用图论和矩阵分析方法分析系统获得一致性的充分条件和一致平衡点,并证明仅网络中的根节点对平衡点起作用.在此基础上,分析平衡点的取值范围,通过参数优化可以使系统收敛到该范围内任意给定的期望值.最后,通过仿真分析表明了理论分析的正确性.A linear consensus protocol for heterogeneous multi-agent systems composed of first-order and second-order agents is proposed. Based on the graph theory and the matrix theory, the sufficient conditions for achieving consensus and consensus equilibrium point are obtained respectively. It is proved that only the initial conditions of the root vertices contribute to the equilibrium point. The convergence interval is deduced. Then, the system can converge to arbitrary expected value in this interval by setting the parameters. Simulation analysis shows the correctness of the proposed theorems.

关 键 词：异构多智能体 离散时间 一致性 平衡点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]