摘要
为解决混合阶动态多智能体网络的拟平均一致性,将混合阶动态多智能体网络的拟平均一致性转化为增广的一阶多智能体网络的平均一致性,并给出相应一致性问题协议的定义,根据网络的拓扑结构连通性特点,运用代数图论、矩阵理论中的圆盘定理和李雅普诺夫理论证明了定拓扑和变拓扑无向网络下一致性协议的稳定性定理,并以由4个一阶智能体和2个二阶智能体所组成的混合阶智能体网络为例进行具体说明。理论研究和仿真结果都表明所提协议的正确性。
In order to deal with quasi-consensus problem of heterogenous multiagent networks composed of mixed order nodes, the suggested problem is turned into average consensus realization of its homogeneous counterpart, i. e. the extended first order integrator multi-agent system. The protocol is putforward following the definition of the quasi-average consensus of mixed order multi-agent system. Stability theorem for undirected networks with fixed and switching topology is proved in virtue of algebra graph, disk teorm of matrix theory and quadratic Lyapunov function under frame of connectivity of the topology structure. Detailed description is further done to mixed order heterogeneous multi-agent networks made up of 4 first order agents and 2 second order agents. Both theoretical research and simulation results show the correctness of the addressed method.
出处
《控制工程》
CSCD
北大核心
2009年第2期220-222,226,共4页
Control Engineering of China
基金
863高科技计划基金资助项目(2007AA06Z221)
国家自然科学基金资助项目(60643003
60702023
60774007
60774041)
河南省基础与前沿技术研究计划基金资助项目(072300460050)
河南理工大学博士基金资助项目(648606)
河南理工大学青年骨干教师计划基金资助项目(649033)
河南省教育厅自然科学计划基金资助项目(2008A120005)
关键词
一致性问题
异结构多智能体
拟平均一致
变拓扑
consensus problem
heterogeneous multi-agents
quasi-average consensus
switching topology
作者简介
宋运忠（1968-），男，河南民权人，副教授，博士，主要从事多智能系统的分析与控制、混沌控制与复杂网络等方面的教学与科研工作：
