速度不可测的异构多智能体系统一致性分析

Consensus analysis for heterogeneous multi-agent systems with immeasurable velocity

近年来,随着异构系统在实际中的广泛应用,异构多智能体系统一致性分析成为研究热点。针对一阶部分智能体控制输入有界、二阶智能体速度不可测的异构多智能体系统,在无向网络拓扑图下给出了无领导者和有领导者两种控制输入设计方法,基于图论知识和LaSalle不变集原理给出了该异构系统实现一致性的充分条件。最后,通过数值仿真验证了该理论的正确性。

With the wide application of heterogeneous systems in actual systems in recent years, consensus research for heterogeneous multi-agent systems becomes a hot research area. For heterogeneous multi-agent systems composed of first-order agents with bounded control input and second-order agents with immeasurable velocity, we propose a leaderless control protocol and a leader-follower control protocol for heterogeneous multi-agent systems under undirected network topology. Some sufficient conditions for consensus problem are obtained by applying the graph theory and LaSalle invariance principle. Finally, simulations verify its validity.