| 引用本文: | 谭拂晓,关新平,刘德荣.非平衡拓扑结构的多智能体网络系统一致性协议[J].控制理论与应用,2009,26(10):1087~1092.[点击复制] |
| TAN Fux-iao,GUAN Xin-ping,LIU De-rong.Consensus protocol in networked multi-agent systems with non-balanced topology[J].Control Theory and Technology,2009,26(10):1087~1092.[点击复制] |
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| 非平衡拓扑结构的多智能体网络系统一致性协议 |
| Consensus protocol in networked multi-agent systems with non-balanced topology |
| 摘要点击 2807 全文点击 2991 投稿时间：2008-06-23 修订日期：2009-04-15 |
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| DOI编号 |
| 2009,26(10):1087-1092 |
| 中文关键词 多智能体网络系统 有向图 一致性协议 一致平衡点 凸组合 |
| 英文关键词 networked multi-agent systems digraph(directed graph) consensus protocol consensus value convex |
| 基金项目 国家杰出青年科学基金资助项目(60525303); 国家自然科学基金委优秀创新团队项目(60621001). |
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| 中文摘要 |
| 针对多智能体网络系统, 本文分别研究了非平衡拓扑结构的多智能体连续状态和离散状态下的一致性协议. 首先提出了能使用有向图表示的多智能体网络系统的拓扑结构, 并根据该拓扑结构建立了网络系统的1阶数学模型和提出了多智能体网络系统一致收敛准则. 对于多智能体网络连续系统, 该系统的一致平衡点最终收敛于初始状态的凸组合, 本文最终确定了非平衡拓扑结构的一致平衡点. 如果多智能体网络系统的拓扑结构没有改变, 在离
散状态下系统的一致平衡点仍收敛于初始状态的凸组合, 并且离散状态下系统的一致平衡点与连续状态下系统的一致平衡点相等. 最后采用8个智能体组成的网络拓扑进行计算机仿真, 验证理论的正确性. |
| 英文摘要 |
| For non-balanced topology of networked multi-agent systems, the consensus protocols of continuous timeinvariant systems and discrete-time systems are investigated, respectively. First, the digraph(directed graph) is used to represent the topology of multi-agent systems, and then, a first-order integrator model and a consensus convergence criterion of systems are established. Second, we prove that consensus value of continuous time-invariant systems converges globally asymptotically to the convex combination of initial states, thus, determining the consensus value of the non-balanced topology. If the topology is fixed and time-invariant, the consensus value of discrete-time systems also globally asymptotically converges to the convex combination of initial states, which is identical to continuous systems. Finally, two simulation examples of eight agents with different states verify the theory. |
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