引用本文:宋海裕,俞立,胡鸿翔.牵制控制下的多智能体系统群一致性[J].控制理论与应用,2012,29(6):765~772.[点击复制]
SONG Hai-yu,YU Li,HU Hong-xiang.Group consensus in multi-agent systems via pinning control[J].Control Theory and Technology,2012,29(6):765~772.[点击复制]
牵制控制下的多智能体系统群一致性
Group consensus in multi-agent systems via pinning control
摘要点击 3994  全文点击 3073  投稿时间：2011-01-18  修订日期：2011-10-06
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DOI编号  10.7641/j.issn.1000-8152.2012.6.CCTA110093
  2012,29(6):765-772
中文关键词  多智能体系统  群一致性  牵制控制
英文关键词  multi-agent systems  group consensus  pinning control
基金项目  国家自然科学基金资助项目(60974017, 61074039).
作者单位E-mail
宋海裕 浙江工业大学 信息工程学院 haiyusong@gmail.com 
俞立* 浙江工业大学 信息工程学院 lyu@zjut.edu.cn 
胡鸿翔 浙江工业大学 信息工程学院  
中文摘要
      本文研究了一类多智能体系统在牵制控制下的群一致性问题, 提出了融合群内信息交互、群间信息交互和牵制控制器的一致性协议. 对固定拓扑下的二群组智能体系统和切换拓扑下的多群组智能体系统, 利用稳定性理论和图论分别给出了适用于任意拓扑结构的充要条件, 使得智能体系统在所提协议和牵制控制器的联合作用下实现预期的群一致. 针对拓扑图中含有生成树这一特例, 分析了被施加牵制控制的智能体在拓扑结构中的具体位置. 此外, 对切换拓扑下进行非线性交互的多群组智能体系统, 利用Lyapunov方法推导出一充分条件, 得出只要对多智能体系统的一部分主体进行牵制控制, 则所有智能体即可在所提协议和牵制控制器的作用下渐近收敛于各自的期望一致平衡点. 最后, 仿真例子验证了所提方法的有效性.
英文摘要
      In dealing with the group consensus problem of multi-agent systems via pinning control, we propose a consensus protocol combining the in-group information exchange, the out-group information exchange with the pinning controller for reaching more than one anticipative stationary state. By using stability and graph theories, we derive the necessary and sufficient conditions for the couple-group agent system in fixed topology and the multi-group agent system in switching topologies, respectively, such that all the agents can achieve their own consistent states asymptotically. Specially, the relation between the controlled agents and the interactive topology is analyzed for the case when the topology graph has a spanning tree. Moreover, based on the Lyapunov function method, a sufficient condition is derived for multi-group agent systems with nonlinear transmission to asymptotically reach several anticipative consistent states in switching topologies. The obtained results imply that the anticipative group consensus can be achieved if a fraction of them are controlled. Illustrative examples are provided to demonstrate the effectiveness of the proposed methods.