摘要
研究允许部分成员不使用自身状态信息的多智能体系统一致性问题.给出一个新的通信协议,允许系统中部分成员甚至全体成员不使用自身信息.通过研究非负随机矩阵谱半径及其对应有向图的结构,分别给出固定通信拓扑和动态通信拓扑下的多智能体系统一致性结果,即在系统通信拓扑所含的生成树中,当且仅当根节点含有自伴环时,系统可以渐近实现信息一致性.仿真结果验证了理论结果的正确性.
Consensus problems for the case that part of members without using private state information in a multi-agent system are studied.A new consensus protocol is given with the properties that not all the agents,even none of them need to use their private state information.Based on the matrix theory and graph theory,it is proved that consensus problems can be solved for both fixed and switching topology by studying the structure of graphs corresponding to nonnegative matrices.If and only if the root vertex has a loop in the interaction topology which has a spanning tree,then the system can achieve consensus asymptotically.Simulations results show the correctness of theoretical conclusion.
出处
《控制与决策》
EI
CSCD
北大核心
2013年第9期1294-1302,共9页
Control and Decision
基金
国家自然科学基金项目(60875071
51209175)
高等学校博士点基金项目(200806990008)
关键词
自身信息
多智能体
一致性
固定拓扑
时变拓扑
private information
multi-agent
consensus
fixed topology
switching topology
