离散多智能体系统分组一致性分析  

Group Consensus Analysis of Discrete-Time Multi-Agent Systems

作　　者：林瑜阳 李钟慎[1] LIN Yuyang LI Zhongshen(College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China)

机构地区：[1]华侨大学机电及自动化学院,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2017年第3期306-311,共6页Journal of Huaqiao University(Natural Science)

基　　金：福建省自然科学基金资助项目(2013J05077);中央高校基本科研业务基金资助项目(JB-ZR1107);福建省厦门市集美区科技计划项目(20137C01);华侨大学研究生科研创新能力培育计划项目(2014年度)

摘　　要：在有向拓扑结构下,研究离散多智能体系统的分组一致问题,提出无入度平衡假设条件的控制协议设计方法.首先,根据系统模型,设计离散多智能体系统的分组一致控制协议.其次,利用代数图论和矩阵论,分析并得到离散多智能体系统实现分组一致的充要条件.最后,仿真结果验证了理论分析结论的正确性.数值仿真结果表明:系统实现分组一致仅要求有向图G_n含有一个有向生成树,不要求拓扑结构满足入度平衡条件.In this paper, the protocol design method without in-degree balanced assumption was presented un-der the directed graph topology to investigate the grouping consensus problem for a class of discrete-time multi-agent systems. Firstly, based on the model of discrete-time multi-agent systems？ a grouping consensus proto-col was designed. Then, according to the algebraic graph theory and the matrix theory, the grouping consen-sus problem was studied. The sufficient and necessary condition of group consensus for the discrete-time multi -agent systems was obtained. Finally, simulation results demonstrated that the grouping consensus of the sys-tems only required that the directed graph Gn had a direct spanning tree however the in-degree balanced as-sumption was not necessary.

关 键 词：多智能体系统 离散时间系统 入度平衡 分组一致性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]