牵引控制间歇通讯多智能体网络的一致性

Consensus of Multi-agent Networks with Intermittent Communication via Pinning Control

针对间歇通讯的具有领导层与跟随者层的多智能体网络一致性问题,提出了合适的时变牵引控制方案.同时,在模型中引入了切换的拓扑结构,使得多智能体网络更为实际.采用李亚普诺夫稳定性理论,给出了牵引控制下领导层与跟随者层的一致性条件,并得到了网络通讯间隔的要求.数值仿真进一步验证了理论结果的有效性.

Aiming at the consensus problem of multi-agent networks possessing a leaders' and followers' layer with intermittent communication,we propose a suitable time-varying pinning control strategy. We introduce the switching topologies into the model in order to make the multi-agent networks more practical. By using the Lyapunov stability theory,we present the conditions for the consensus of the leaders' and the followers' layers under pinning control and obtain the requirements for the communication intervals of the networks. Numerical simulations verify the validity of the theoretical results.