基于部分三阶邻居信息的一致性算法  

A Consensus Algorithm Based on Partial Third-order Neighbors Information

作　　者：严志强 葛磊 张跃跃 窦磊[1] YAN Zhi-Qiang;GE Lei;ZHANG Yue-Yue;DOU Lei(State Key Laboratory of Transient Physics,Nanjing University of Science and Technology,Nanjing 210094)

机构地区：[1]南京理工大学瞬态物理国家重点实验室,南京210094

出　　处：《自动化学报》2021年第9期2285-2291,共7页Acta Automatica Sinica

摘　　要：针对多智能体一致性算法中的通信问题,提出了一种近邻原则,即利用部分二阶和部分三阶邻居信息,在固定无向连通拓扑图的基础上,应用于三阶多智能体系统.通过MATLAB仿真,将所提出的算法与经典的三阶一致性算法进行比较,仿真结果表明该算法能够使系统达到一致,并且提高了系统的收敛速度,减少了系统通讯量.For the problem of communication in multi-robot consensus algorithm,the nearest neighbors principle which utilizes a part of second-order and third-order neighbors information is proposed and applied to third-order multi-robot system basing on fixed,undirected and connected communication topology.We compared the proposed algorithm with the typical third-order consensus algorithm via MATLAB.The simulation result shows that the new algorithms can make the system achieve consensus.Furthermore,the new algorithm improved the speed of convergence and reduced the amount of communication.

关 键 词：三阶多智能体系统 一致性 近邻原则 通信拓扑 收敛速度 通信量 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]