节点子集时变脉冲下的多智能体一致性分析

Consensus analysis of multiagent system under time-varying impulse of node subset

通过引入对节点进行脉冲牵制控制的手段,设计基于节点子集的时变脉冲牵制控制来获得多智能体系统的一致性.结果表明,时变脉冲强度的允许范围完全取决于图的拉普拉斯矩阵所对应特征值为0的左特征向量、牵制节点及其个数,并且证明了脉冲可以非常稀疏、脉冲时间间隔有下界.同时随着控制节点的增加,多智能体网络系统收敛速度更快.最后,给出数值模拟来验证所得结果的正确性.

We introduce the impulse pinning control of nodes.By designing the time-variant impulse pinning control based on the subset of nodes,we obtain the consensus of multiagent system,our results show that the allowable range of the time-varying impulse strength depends entirely on the left eigenvector with the corresponding feature value of the map Laplacian,pinned nodes and the number of the pinned nodes and the impulse can be very sparse,the impulse interval has a lower bound.Meanwhile,as the number of control nodes increases,the multiagents reach agreement more quickly.Finally,numerical simulations are given to verify the correctness of the results obtained.