网络攻击下双层结构多智能体系统一致性

Consensus of two-layer multi-agent systems subjected to cyber-attack

研究了遭受网络攻击的双层结构多智能体系统的一致性问题。针对包含领导层和跟随者层的双层网络结构的多智能体系统,考虑了如下情况:领导层相邻智能体之间为友好合作关系,跟随者层相邻智能体之间既包含友好合作也包含对抗竞争关系,同时领导层与跟随者层中部分对应智能体之间存在牵制关系。分析了受网络攻击的领导层多智能体系统、跟随者层多智能体系统和双层网络结构多智能体系统的节点之间的一致性关系。基于线性矩阵不等式(LMI)、李雅普诺夫稳定性理论和图论等相关知识给出了领导层多智能体系统节点间实现一致,跟随者层多智能体系统节点间实现二分一致,以及双层结构的多智能体系统之间实现点对点二分一致的充分性判据。最后,给出了具体的数值仿真例子,实现了遭受网络攻击的双层结构多智能体系统的一致性,验证了所给出的判据的有效性。

The consensus problem of the two-layer multi-agent systems subjected to cyber-attacks was studied.Aiming at the two-layer multi-agent systems composed of the leaders’layer and the followers’layer,the situation as the following was given:the neighboring agents in the leaders’layer were cooperative,the adjacent agents in the followers’layer were cooperative or competitive,and there was a restraining relationship between some corresponding agents in the leaders’layer and the followers’layer.The consensus problem among the nodes of leaders’layer,followers’layer and two-layer multiagent systems subjected to cyber-attack was discussed.Based on the related knowledge such as Linear Matrix Inequality(LMI),Lyapunov stability theory and graph theory,the sufficient criteria for consensus between the nodes in the leaders’layer multi-agent system,bipartite consensus between the nodes in the followers’layer multi-agent system and node-to-node bipartite consensus between the nodes in the two-layer multi-agent systems were given.Finally,the numerical simulation examples were given,and the consensus of the two-layer multi-agent systems subjected to cyber-attack was realized,which verified the validity of the proposed criteria.