Markov切换拓扑下异构多智能体系统的均方一致性  

Mean-square consensus of heterogeneous multi-agent systems under Markov switching topologies

作　　者：莫立坡[1] 潘婷婷[1] 

机构地区：[1]北京工商大学理学院,北京100048

出　　处：《中国科学：信息科学》2016年第11期1621-1632,共12页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:61304155);北京市组织部优秀人才项目(批准号:2012D005003000005)资助项目

摘　　要：针对由一阶智能体和二阶智能体构成的异构多智能体系统,研究了其拓扑结构Markov切换下的均方一致性问题.首先,基于邻居信息分别对一阶智能体和二阶智能体设计了控制协议.其次,利用随机不可约非周期矩阵的性质,得到了使得异构多智能体系统实现均方一致所需的充分必要条件.最后,数值仿真验证了理论结果的有效性.This paper concerns the mean-square consensus of a heterogeneous multi-agent system,which consists of first-and second-order agents,under Markovian switching topologies.Firstly,based on information from neighboring agents,control protocols are designed for the first-and second-order agents,respectively.Secondly,by using the properties of a stochastic irreducible aperiodic matrix,the sufficient and necessary conditions for the heterogeneous multi-agent systems to realize mean-square consensus are obtained.Finally,numerical simulations are conducted to illustrate the effectiveness of the theoretical results.

关 键 词：异构 多智能体系统 Markov切换 一致性 均方稳定性 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]