基于二阶邻居事件触发智能体系统二分一致性
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摘要
针对多智能体系统的二分一致性问题,本文利用分布式事件触发控制方法,对多智能体系统二分一致性进行研究。为了加速多智能体系统二分一致性的收敛速度,利用智能体自身及其一阶和二阶邻居信息,设计了二分一致性协议,并对无向连通或有向强连通的拓扑结构进行研究,当拓扑结构是结构平衡时,利用李雅普诺夫稳定性定理,证明了多智能体系统可以在给定事件触发条件下达到二分一致。为验证理论结果的有效性,利用Matlab软件进行数值仿真。仿真结果表明,在所设计的二分一致性协议下,多智能体系统的状态可以达到二分一致。该研究为多机器人系统的编队问题提供了理论基础。
The bipartite consensus problem of multi-agent systems is investigated by using the method of distributed even-triggered control.In order to accelerate the bipartite consensus convergence speed,a consensus protocol is designed by using the agent itself and its first-order and second-neighbors' information.The undirected and connected or directed and strongly connected topologies are all investigated.It is proved that when the topology is structurally balanced by using Lyapunov stability theorem,the multi-agent system can achieve bipartite consensus under the given event-trigger conditions.In order to demonstrate the effectiveness of the designed protocol,Matlab software was used fornumerical simulation.The simulation results show that under the designed bipartite consensus protocol,the states of the multi-agent system can reach bipartite consensus.This study provides a theoretical basis for the formation of multi-robot systems.
The bipartite consensus problem of multi-agent systems is investigated by using the method of distributed even-triggered control.In order to accelerate the bipartite consensus convergence speed,a consensus protocol is designed by using the agent itself and its first-order and second-neighbors' information.The undirected and connected or directed and strongly connected topologies are all investigated.It is proved that when the topology is structurally balanced by using Lyapunov stability theorem,the multi-agent system can achieve bipartite consensus under the given event-trigger conditions.In order to demonstrate the effectiveness of the designed protocol,Matlab software was used fornumerical simulation.The simulation results show that under the designed bipartite consensus protocol,the states of the multi-agent system can reach bipartite consensus.This study provides a theoretical basis for the formation of multi-robot systems.
引文
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[3]Qin J,Gao H J,Yu C B.On discrete-time convergence for general linear multi-agent systems under dynamic topology[J].IEEE Transactions on Automatic Control,2014,59(4):1054-1059.
[4]Liu K,Ji Z J,Xie G M,et al.Consensus for heterogeneous multi-agent systems under fixed and switching topologies[J].Journal of the Franklin Institute,2015,352(9):3670-3683.
[5]Liu K,Ji Z J,Xie G M,et al.Event-based broadcasting containment control for multi-agent systems under directed topology[J].International Journal of Control,2016,89(11):2360-2370.
[6]Liu K,Ji Z J,Ren W.Necessary and sufficient conditions for consensus of second-order multi-agent systems under directed topologies without global gain dependency[J].IEEE Transactions on Cybernetics,2017,47(8):2089-2098.
[7]BarnabéHeider F.Attitudes and cognitive organization[J].Social Networks,1946,21(1):107.
[8]Wasserman S,Faust K.Social network analysis:methods and applications[M].Cambridge:Cambridge University Press,1994.
[9]Yu J Y,Wang L.Group consensus in multi-agent systems with switching topologies and communication delays[J].Systems and Control Letters,2010,59(6):340-348.
[10]Altafini C.Consensus problems on networks with antagonistic interactions[J].IEEE Transactions on Automatic Control,2013,58(4):935-946.
[11]Zhou Y L,Hu J P.Event-based bipartite consensus on signed networks[C]∥IEEE International Conference on Cyber Technology in Automation,Control and Intelligent Systems.Nanjing,China:IEEE,2013:326-330.
[12]杜明骏,孟德元.具有正负混合连接权重及通讯时滞的多智能体系统一致性[C]∥第33界中国控制会议.南京:中国自动化学会控制理论专业委员会,2014:1075-1080.
[13]杜英雪,王玉振,王强.多智能体时滞和无时滞网络的加权分组一致性分析[J].控制与决策,2015,30(11):1993-1998.
[14]Xie D M,Liang T.Second-order group consensus for multi-agent systems with time delays[J].Neurocomputing,2015,153:133-139.
[15]Zeng J Z,Li F Y,Qin J H,et al.Distributed event-triggered bipartite consensus for multiple agents over signed graph topology[C]∥Control Conference.Chongqing,China:IEEE,2015:6930-6935.
[16]闻国光,黄俊,于玉洁.异质多智能体系统在固定拓扑下的分组一致性[J].北京交通大学学报,2016,40(3):115-119.
[17]修言彬,刘聪,刘亚斌.离散异质多智能体系统的分组一致性控制[J].计算机测量与控制,2015,23(12):4034-4037.
[18]夏倩倩,刘开恩,纪志坚.基于二阶邻居事件触发多智能体系统的一致性[J].智能系统学报,2017,12(6):833-840.
[19]Dimarogonas D V,Frazzoli E,Johansson K H.Distributed event-triggered control for multi-agent systems[J].IEEE Transactions on Automatic Control,2012,57(5):1291-1297.
[20]Lin J,Morse A S,Anderson B D O.The multi-agent rendezvous problem[C]∥42nd IEEE Conference on Decision and Control,Maui.H,USA:IEEE,2003:1508-1513.
[21]Olfati-Saber R,Murray R M.Consensus problems in networks of agents with switching topology and time-delays[J].IEEETransactions on Automatic Control,2004,49(9):1520-1533.