间歇通信下具有双层拓扑结构的多智能体系统一致性研究

Research on Consensus of Multi-Agent Systems with Two-Layer Hierarchical Topology under Intermittent Communication

本文研究了在间歇通信机制下具有两层网络拓扑结构的多智能体系统一致性问题.首先,提出了一种在间歇通信机制下的一致性控制协议,通过建立网络结构模型和误差系统模型,将一致性问题等效转化为线性时滞系统的渐近稳定性问题.其次,利用Lyapunov-Krasovskii泛函分析方法,导出了多智能体网络在间歇通信机制下达到一致性的充分条件,结论以一组LMI形式给出.最后,通过仿真算例验证了该方法的有效性.

In this paper,the consensus problem of multi-agent systems with two-layer network topology under intermittent communication mechanism is studied.Firstly,a consensus control protocol based on intermittent communication mechanism is proposed.By modeling the network structure and establishing the error system model,the consensus problem is equivalent to the asymptotic stability problem of linear time-delay systems.Secondly,by using Lyapunov-Krasovskii functional analysis method,the sufficient conditions for multi-agent networks to reach consensus under intermittent communication mechanism are derived,and the conclusions are given in the form of a set of LMIs.Finally,a simulation example is given to verify the effectiveness of the proposed method.