异质多智能体系统的自适应点对点拟一致性控制

Adaptive node-to-node quasi-consensus of heterogeneous multi-agent systems

考虑了各层内部节点和两层网络间对应节点都是异质的,设计了自适应的一致性控制协议,并分别研究了线性多智能体系统和非线性多智能体系统两种情形。针对线性异质多智能体系统,利用线性矩阵不等式和稳定性方法证明了两层网络节点之间可以实现点对点拟一致性;针对具有Lipschitz型动力学的非线性异质多智能体系统,也给出了两层网络节点之间实现点对点拟一致性的充分判据。最后,给出了数值仿真说明理论结果的有效性。

The adaptive node-to-node quasi-consensus is studied for heterogeneous multi-agent systems in this paper.Nodes in each layer and corresponding nodes between two layers are heterogeneous.The adaptive consensus control is designed to study both linear heterogeneous multi-agent systems and nonlinear heterogeneous multi-agent systems.For linear heterogeneous multi-agent systems,it is proved that the node-to-node quasi-consensus can be acquired by using the linear matrix inequality and stability method.For nonlinear heterogeneous multi-agent systems with the Lipschitz-type nonlinear dynamics,the sufficient criterion is derived to guarantee the node-to-node quasi-consensus in two-layer networks.Finally,numerical simulations are conducted to illustrate the effectiveness of the theoretical results.