不确定性合作竞争网络中的二分一致性研究

Bipartite Consensus for Heterogeneous Agents in Uncertain Cooperation-competition Networks

研究带有速度阻尼的二阶积分器异质个体在不确定性合作竞争网络中的群集行为。首先,针对网络结构的不确定性设计一种基于Nussbaum型函数的分布式自适应控制律,然后,采用Barbalat引理和Lyapunov稳定性理论并结合合作竞争网络结构的特点,得到多智能体系统实现二分一致性的充分条件,最后通过仿真实例验证了所得结论的正确性。

In recent years,the swarming behavior analysis of multi-agent systems has become a hot topic in the complex network field,which has attracted multidisciplinary researchers.However,it still needs to be solved for swarming behavior in uncertain cooperation-competition networks.In this paper,the swarming behavior of second-order heterogeneous agents with velocity damping term in uncertain cooperation-competition networks is considered.By utilizing the Barbalat s lemma and Lyapunov theory,a distributed Nussbaum-type function-based adaptive control law is designed,and some sufficient conditions about bipartite consensus are obtained.Finally,the simulation examples are given to illustrate the effectiveness of our method.