二阶混杂多智能体系统的安全二分一致性

Secure bipartite consensus of second-order hybrid multi-agent systems

本文在合作–竞争网络下针对一类由二阶连续时间个体和离散时间个体构成的混杂多智能体系统,研究了系统中存在恶意个体情况下的安全二分一致性问题.首先,在假设智能体的恶意邻居数量上限已知的情况下,基于删除邻居信息中极端值的思想,设计了一种安全二分一致性容错算法.其次,基于鲁棒图性质进行系统转换,运用图论、矩阵论等分析工具得到了系统实现安全二分一致性的图条件.最后,通过仿真实例验证了所得结果的有效性.

This paper investigates the secure bipartite consensus problem for hybrid multi-agent systems consisting of second-order continuous-time agents and discrete-time agents under a cooperative-competitive network with malicious agents.Firstly,under the assumption that the upper bound of the number of malicious agents in each normal agent’s neighborhood is known,a secure bipartite consensus fault-tolerant algorithm is designed based on the idea of deleting the extreme values received from neighbors.Secondly,the system transformation is performed based on the properties of robust graph,and a sufficient condition on network topology is obtained for the achievement of secure bipartite consensus by using graph theory and matrix theory.Finally,a numerical simulation verifies the effectiveness of the result.