多智能体一致性的随机镇定研究

Stochastic stabilization of multi-agent consensus

本文给出多智能体随机一致性的数学描述,模拟了环境噪声对多智能体系统一致性的影响,并提出一种运用随机噪声控制多智能体系统的方法。仿真结果表明,添加满足一定条件的随机噪声控制可以令在没有噪声干扰情况下非一致性的多智能体系统达到随机一致性镇定。最后对多智能体的随机一致性镇定进行理论分析,并得到满足控制要求的随机噪声强度的大致下界。所提出的多智能体协调控制方法具有系统能耗小、控制性能更佳的特点。

This paper provides the mathematical description of multi-agent stochastic consensus,simulates the effect of environmental noise on the consensus of multi-agent system,and puts forward a control method for multi-agent by using stochastic noise.The simulation results show that the multiagent system which has no concerted actions in the environment without noise interference can reach stochastic stabilization by adding proper stochastic noise control.Finally,theoretical analysis of stochastic stabilization of multi-agent consensus is carried out and the general minimum of noise intensity meeting the control requirement is achieved.The proposed coordination control method for multi-agent uses less system energy and has better control performance.