带强连通分支的多智能体系统可控包含控制

Controllable containment control of multi-agent systems with strongly connected sub-graph

研究有强连通子图拓扑结构的有向多智能体系统领导者选择及可控包含控制问题.根据网络拓扑结构,智能体被分为两类:单元智能体和一般智能体.首先设计强连通子图中个体组成的单元智能体的一致性协议实现各个单元的一致;后由单元智能体和一般智能体构成新的拓扑结构,结合复杂网络可控性理论与二分图最大匹配算法确定满足网络可控的最少领导者集合,并为所有智能个体设计相应的控制协议,驱使跟随者渐近收敛到多个领导者组成的动态凸包中,从而实现网络的可控包含控制.仿真结果验证了理论分析的正确性.

In this paper,the leader selection and controllable containment for given topology that has strongly connected sub-graph of directed multi-agent systems is investigated.According to the topology structure,the agents are classified into two categories:unit agents and general agents.Firstly,the consensus protocol of unit agents in the strongly connected graph is designed to achieve consensus of each unit;Secondly,a new topological structure is constructed by unit agents and general agents.Combining the complex network controllability theory with the algorithm of bipartite graph maximum matching to determine the minimum leader set satisfying the network controllable.Then the corresponding control protocol is designed for all agents,which drives all followers to asymptotically converge to the dynamic convex hull spanned by theleaders,so as to the controllable containment control of the whole network is realized.Finally,the simulation results are provided to illustrate the correctness of the theoretical analysis.