时延多智能体系统有限时间分组一致协议设计

Design of Finite-Time Group Consensus Protocol for Multi-Agent System with Time Delay

针对具有时延的多智能体系统的分组和有限时间一致性问题,基于复杂网络和李雅普诺夫稳定性理论,我们提出了一致性协议和控制算法,使得多智能体状态在有限时间内达到分组一致,并对算法的有效性及稳定性进行了理论推导和证明。在我们的研究中智能体的通信拓扑分为静态拓扑和动态拓扑,同时智能体的分组情况也可以是动态变化的。为了进一步验证所设计的算法,我们开展了仿真研究,最终发现控制算法中的参数α和β越高,所估计的建立时间就越短。

Aiming at the problem of group and finite-time consensus of multi-agent system with time-delay, based on the theories of complex network and Lyapunov stability, the consensus protocol and control algorithm based on complex dynamic network are proposed to make the states of multi-agents achieve consensus in finite time, and the analysis of effectiveness and stability is carried out. In our research, the topology of agents is divided into static and dynamic topology, and the group of agents also can be dynamically changed. To verify the algorithm, further simulation study was carried out, it was found that the higher the α and β in the control algorithm, the shorter the estimated establishment time.