非平衡拓扑结构的多智能体网络系统一致性协议

Consensus protocol in networked multi-agent systems with non-balanced topology

针对多智能体网络系统,本文分别研究了非平衡拓扑结构的多智能体连续状态和离散状态下的一致性协议.首先提出了能使用有向图表示的多智能体网络系统的拓扑结构,并根据该拓扑结构建立了网络系统的1阶数学模型和提出了多智能体网络系统一致收敛准则.对于多智能体网络连续系统,该系统的一致平衡点最终收敛于初始状态的凸组合,本文最终确定了非平衡拓扑结构的一致平衡点.如果多智能体网络系统的拓扑结构没有改变,在离散状态下系统的一致平衡点仍收敛于初始状态的凸组合,并且离散状态下系统的一致平衡点与连续状态下系统的一致平衡点相等.最后采用8个智能体组成的网络拓扑进行计算机仿真,验证理论的正确性.

For non-balanced topology of networked multi-agent systems, the consensus protocols of continuous timeinvariant systems and discrete-time systems are investigated, respectively. First, the digraph（directed graph） is used to represent the topology of multi-agent systems, and then, a first-order integrator model and a consensus convergence criterion of systems are established. Second, we prove that consensus value of continuous time-invariant systems converges globally asymptotically to the convex combination of initial states, thus, determining the consensus value of the non-balanced topology. If the topology is fixed and time-invariant, the consensus value of discrete-time systems also globally asymptotically converges to the convex combination of initial states, which is identical to continuous systems. Finally, two simulation examples of eight agents with different states verify the theory.