基于二阶邻居信息的高阶多智能体系统的一致性

CONSENSUS IN THE HIGH-ORDER MULTI-AGENT SYSTEMS WITH THE PROBLEM OF PACKET LOSS USING THE SECOND-ORDER NEIGHBOR' INFORMATION

研究了基于一阶和二阶邻居信息的二阶和高阶丢包多智能体系统一致性问题.对于离散框架下的多智能体系统,假设智能体之间通信拓扑图是无向的,数据包的丢失服从伯努利分布.考虑到丢包问题,文章利用一阶和二阶邻居信息针对二阶和高阶系统给出了控制协议。基于李雅普诺夫函数方法,建立了闭环系统的均方稳定性条件.算例的仿真验证了所提控制策略的有效性.仿真表明由于利用了二阶邻居信息,数据包丢失的多智能体系统具有更快的收敛速度.

This paper mainly investigates the consensus of second-order and high- order multi-agent systems with the problem of packet loss where both the first-order and the second-order neighbors＇ information are used. The problem is formulated under the sampled-data framework for the discrete time agent dynamics. The communication graph is undirected and the loss of data across each communication link occurs at certain probability, which is governed by a Bernoulli process. Based on oneorder and second-order neighbors＇ information, the control protocols are proposed. Then, the mean square consensus of the closed-loop multi-agent systems is analyzed by the Lyapunov function method. A numerical example is given to demonstrate the effectiveness of the proposed methods. It is found that the distributed consensus is sped up by using the second-order neighbors＇ information when packet loss occurs.