基于分层邻域选择的切换拓扑多智能体系统一致性协议  

Consensus of Switched Topology in Multi-agent System Based on Layered Neighbor Selection

作　　者：谢光强[1] 万梓坤 李杨[1] Xie Guang-qiang;Wan Zi-kun;Li Yang(School of Computer Science and Technology,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学计算机学院,广东广州510006

出　　处：《广东工业大学学报》2024年第4期44-51,共8页Journal of Guangdong University of Technology

基　　金：国家自然科学基金资助项目(62006047,618760439)。

摘　　要：在切换拓扑的多智能体系统中,针对高低密度信息减弱一致性的问题,提出了一种基于分层邻域选择算法(Layered Neighbor Selection,LNS),该算法对智能体的邻域进行层次划分,从每层中选取具有代表性的邻居智能体进行通信、状态更新和状态演化,然后设计了层次调整策略和层次融合策略来加快收敛速度,最后设计了分层邻域选择一致性协议,且给出了层数对收敛的影响。现有的一致性协议,收敛效果受限于特定密度范围,受不同密度的影响较大,而本文提出的协议能适应不同密度范围,并在系统稳定的条件下提升收敛速度,且通过李雅普诺夫函数法证明了一致性协议的稳定性。最后通过仿真实验,并与几种一致性协议进行比较,验证了所设计的一致性协议能有效加快系统收敛速度。In the multi-agent systems with switching topology,to address the consistency problem weaken by the high and low density information,a Layered Neighbor Selection(LNS)algorithm is proposed.First,this algorithm divides the neighborhood of the agent into layers,and selects the representative neighbor agents from each layer for communication,state update and state evolution.Then,it designs a layer adjustment strategy and a layer fusion strategy to accelerate the convergence speed,Finally,it designs a layer neighborhood selection consistency protocol,and provides the influence of the number of layers on the convergence.The convergence effect of the traditional consistency protocol is limited to a specific density range and is greatly affected by different densities.Differently,the proposed protocol of this paper can adapt to different density ranges and improve the convergence speed under the condition of system stability.The stability of the consistency protocol is proved by the Lyapunov function method.The effectiveness of the proposed consistency protocol is verified by simulation in comparison with several consistency protocols.

关 键 词：多智能体系统 一致性 切换拓扑 分层邻域选择 李雅普诺夫函数 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]