基于二阶网络的含噪多智能体一致性

Consensus Control for Multi-Agent System with Measurement Noise Based on Two-Hop Relay Network

目的为提升多智能体系统一致性收敛速度并解决系统中个体在通信时存在的测量噪声问题,提出一种多智能体一致性控制算法,为多智能体系统的实际应用提供理论依据。方法通过建立双积分动力模型,结合二阶网络通信拓扑,提出该控制算法,并运用Lyapunov定理证明该算法的可行性。结果若系统无向图连通且算法中常数w满足一定条件时,所提出的基于二阶网络的含噪多智能体一致性算法即可使系统在存在测量噪声的情况下仍能实现快速一致,实验仿真结果也验证了该算法的有效性。结论对于复杂环境中多智能体系统的通信含噪问题,所提控制算法可使系统实现快速一致。

Objective A consensus control algorithm for multi-agent system was proposed to increase the uniform convergence speed,solve the problem of measurement noises existing in communication processes among the agents and provide theoretical basis for practical applications of multi-agent system.Methods By building the double-integrator dynamic model,and combining two-hop relay network,the feasibility of the proposed algorithm was proved by means of Lyapunov theorem.Results The consensus control algorithm for multi-agent system with measurement noises based on two-hop relay network could make the system achieve convergence rapidly in the case of measurement noises if the undirected graph of the system was connected and constant wsatisfies certain conditions.The simulation results were provided to validate the effectiveness of the algorithm.Conclusion Considering measurement noises among the agents,the consensus control algorithm could make the system achieve convergence rapidly.