有向通信拓扑丢包情况下的多智能体系统一致性

Consensus of Multi-agent Systems With Packet Losses in Directed Communication Topology

针对具有有向通信拓扑的采样数据丢失情况下的多智能体系统一致性问题进行研究,其中数据丢包采用二值Bernoulli随机过程描述.首先,采用提出的基于通信拓扑有向生成树关联矩阵构造的线性变换,将多智能体系统的状态一致性问题等价转化为一个降阶系统的渐近稳定性问题.其次,对降阶系统利用Lyapunov方法和线性矩阵不等式(linear matrix inequality,LMI)得出多智能体系统状态达到渐近均方一致的充分条件,给出基于镇定控制的一致性控制增益设计,并分析采样周期的允许边界、随机丢包概率和控制增益矩阵之间的相互影响关系.最后,数值仿真实例验证了所提理论方法的正确性.

Consensus analysis and design problem was investigated for linear multi-agent systems with sampled data packet losses in directed communication topology.Random data packet dropouts during operation were described by the Bernoulli-distribution.A proper state linear transformation,constructing from the incidence matrix of a directed spanning tree of the communication topology,was applied to equivalently translate the state consensus problem into an asymptotic stability,one of corresponding systems.By using Lyapunov stability methodology and linear matrix inequality(LMI)techniques,sufficient conditions were derived for assuring all agent's states to achieve asymptotic consensus,and the protocol gains were designed via the stabilizing control method.The relationship among the allowable bounds of sampling period,the control gain matrix,and packet losses probability was analyzed and applied to express the consensus conditions.The effectiveness and feasibility of the proposed approach was verified by simulation examples.