异质多智能体系统在固定拓扑下的分组一致性  

Group consensus of heterogeneous multi-agent systems under fixed and switching topology

作　　者：闻国光[1] 黄俊[1] 于玉洁 

机构地区：[1]北京交通大学理学院,北京100044

出　　处：《北京交通大学学报》2016年第3期115-119,共5页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金资助项目(61403019);中央高校基本科研业务费专项资金资助项目(2015RC039;2015JBM106)

摘　　要：研究了异质多智能体系统的分组一致性,针对固定通信拓扑情况,提出了一种基于邻接信息的分布式控制协议,并通过李雅普诺夫理论,推导出异质多智能体系统实现分组一致性的充分条件.最后利用数值仿真验证了理论分析的正确性.In this paper,we investigate group consensus problem for heterogeneous multi-agent systems with fixed undirected topologies.We first propose a class of distributed control protocol for achieving the group consensus of heterogeneous multi-agent systems by using the neighbors' information.Then according to the Lyapunov theory,some corresponding sufficient conditions are obtained to guarantee the achievement of group consensus.Finally,numerical simulations are given to verify the theoretical analysis.The expected results of this project will provide a theory guarantee for that heterogeneous multi-agent systems could be widely applied in the fields of mobile autonomous robots,unmanned aerial vehicles,intelligent transportation,modern medical treatment,search-and-rescue operations and surveillance,and so on.

关 键 词：异质多智能体系统 分组一致性 李雅普诺夫理论 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]