具有状态反馈的异质多智能体系统的群组均方一致性

Group Mean-square Consensus of Heterogeneous Multi-agent Systems with State Feedback

研究了一类包含一阶与二阶智能体的异质多智能体系统在均方意义下的群组一致性条件。通过设计状态反馈控制协议,变换系统模型将异质多智能系统的群组均方一致性转换为低阶闭环系统的稳定性问题。运用图论、矩阵理论以及Lyapunov稳定性定理,建立了异质多智能体系统在有向拓扑结构下满足群组均方一致性的充分条件。利用一个数值算例验证了结果的正确性。

The conditions of group mean-square consensus for a class of heterogeneousmulti-agent systems including one-order and second-order agents were investigated.By designing a state feedback control protocol and changing the system model,the problem is converted into the stability issue of a reduced-order closed-loop system.By utilizing graph theory,matrix theory and Lyapunov stability theory,sufficient conditions for guaranteeing the group mean-square consensus of heterogeneous multi-agent systems were obtained under the directed topology.A numerical simulation was provided to illustrate the correctness of the obtained result.