一类异质多智能体系统的一致性控制

Consensus control for a class of heterogeneous multi-Agent systems

针对一类由连续时间一阶和二阶智能体组成的异质多智能体系统,首先给出一阶和二阶智能体实现一致性的算法,其次利用图论和矩阵理论相关知识,在固定有向拓扑结构下,给出异质多智能体系统实现一致性的充要条件,且在一致性实现时给出一致性状态的确切表达式;在切换拓扑结构下,给出异质多智能体系统实现一致性的充分条件。最后给出数值算例验证了相关结论的有效性。

The consensus problem for a class of heterogeneous multi-Agent systems was investigated in this paper, where the multi-Agent systems were composed of first-order Agents and second-order Agents. First, consensus protocols were proposed for first-order Agents and second-order Agents, respectively. Then, necessary and sufficient condition was presented for heterogeneous multi-Agent systems with fixed and directed communication topology to reach consensus by using too｜s from graph theory and matrix theory. Besides, the final consensus states were specified if consensus is achieved to the case of fixed communication topology. Furthermore, sufficient condition was derived for heterogeneous multi-Agent systems with switching and directed communication topologies to reach consensus. Finally, a simulation example was given to demonstrate the effectiveness of theoretical results.