离散多智能体系统分组一致性研究

Group consensus of discrete-time multi-agent systems

针对一阶、二阶离散多智能体系统的分组一致性问题进行了研究。为了去除现有结果的一些保守假设,提出了两个新的分组一致性协议,新的协议反映了系统相同分组内与不同分组间智能体的相互影响。基于图论和稳定性理论,经过分析得到了两个保证系统一致的充分条件。最后,通过两个仿真实例证明了理论结果的有效性。

This paper investigated the group consensus problems of discrete-time multi-agent systems including first-order and second-order,respectively.Instead of relying on other conservative assumptions presented by the majority of the relevant exis-ting research works,this paper presented two novel protocols which reflected the interaction influence among the agents in a group and the interaction influence between different groups in multi-agent system.Based on graph theory and theory of stability,this work obtained analytically two conditions which could guarantee the reaching of group consensus of the multi-agent networks.Finally,two numerical simulated examples verify the validity and correctness of this theory.