非瞬时脉冲牵引控制的多智能体一致性分析

Consensus Analysis of Multiagents with Noninstantaneous Impulsive Pinning Control

研究只对一个智能体进行非瞬时脉冲牵引控制的多智能体一致性问题。在通讯拓扑是无向连通图的情况下,应用矩阵论、代数图论和Lyapunov稳定性理论,给出使多智能体系统达到一致性的2个充分条件。与传统的脉冲方法相比,本文的方法具有较大的优势,特别是在脉冲强度适中且智能体数量很多时,可以有效减少脉冲次数。最后,仿真实例验证了理论结果的有效性。

The consensus problem of multiagents with noninstantaneous impulsive pinning control confined to one agent was investigated.Based on matrix theory, algebraic graph theory and Lyapunov stability theory, two sufficient conditions for multiagent systems to reach consensus were provided when the communication topologies were undirected connected graphs.Compared with the traditional impulsive method, the proposed method had great advantages, it could effectively reduce the number of impulses especially when the impulsive strength was moderate and the number of agents was large.Finally, some simulations were provided to illustrate the effectiveness of the theoretical results.