Consensus of switched multi-agent systems with binary-valued communications  

作　　者：Min HU Ting WANG Yanlong ZHAO 

机构地区：[1]The Key Laboratory of Systems and Control,Institute of Systems Science,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China [2]School of MathematicalSciences,University of Chinese Academy of Sciences,Beijing 100190,China

出　　处：《Science China(Information Sciences)》2022年第6期185-198,共14页中国科学（信息科学）（英文版）

基　　金：supported in part by National Key R&D Program of China(Grant No.2018YFA0703800);National Natural Science Foundation of China(Grant Nos.61803370,61622309);China Postdoctoral Science Foundation(Grant No.2018M630216)。

摘　　要：This paper studies the consensus of switched multi-agent systems(MAS)with binary-valued communications.Different from the existing studies on switched MAS considering precise observations,each agent studied in this research only receives binary-valued information with stochastic noises from its neighbors’states.Further,unlike the existing studies on MAS with binary-valued information in a fixed topology,in this paper,we consider the jointly connected undirected graphs,each of which switches with non-zero probability.The consensus algorithm comprises of two stages:first,the connected agents employ a recursive projection algorithm to estimate their neighbors’states based on the binary-valued communications;second,the control law of the connected agents is developed based on the estimations to upgrade their states.It is proved that both the speed of the estimation convergence to the real states and the consensus speed of the states can achieve O(1/t)when the iteration step is given a proper value.Furthermore,the results indicate that the larger the value of the lowest probability that a graph emerges with,the more easily the consensus could be achieved.Finally,a simulation is presented to demonstrate the theoretical analysis.

关 键 词：binary-valued system switched multi-agent system recursive projection algorithm CONSENSUS jointly connected undirected topologies 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] O157.5[自动化与计算机技术—控制科学与工程]