具有不确定性多智能体系统的一致性算法研究

Research on Consensus Algorithm for Multi-Agent Systems with Uncertainties

提出了一种具有不确定性的多智能体系统的一致性算法。该算法具有设计灵活、鲁棒性强的特点,包括协同律和自适应律。只要网络存在生成树,该算法就可以适应不同的网络拓扑结构。协同律利用现有邻居智能体的局部信息,推动多智能体系统达到一致性。自适应律抑制局部扰动,消除不确定性对网络的影响。最后,仿真结果验证了所提出的算法的有效性。

This paper presents a consensus algorithm for Multi-agent systems with uncertainties.The algorithm features as flexible and robust design that includes cooperative law and adaptive law.The proposed approach can adapt to different network topology as long as the network has a spanning tree.The cooperative law utilizes local information from available neighbors and drives agents to achieve global consensus.The adaptive law rejects the local disturbances so that the uncertainties do not affect network.Thus,the multi-agent systems arrive locally and globally convergence.Finally,the simulation results verify the effectiveness of the proposed algorithm.