一类异构多智能体系统有向图下的广义平均一致性分析

本文对有向图下离散时间一阶二阶混合的异构多智能体系统广义平均一致性问题进行研究.首先给出了该异构系统广义平均一致性的基本概念.在此基础上,针对平均一致性研究中对交互拓扑为平衡网络的局限,提出了一种基于辅助变量的线性一致性协议,对每一个智能体增加一个辅助变量,用于记录个体的状态更新.采用图论、非负矩阵理论、特征值扰动等方法进行分析证明,表明该协议使得异构多智能体系统在任意强连通有向图下达到广义平均一致性.并对收敛值的性质进行了分析.最后,通过仿真对该结论进行了验证.

Generalized average consensusanalysis for a class of heterogeneous multi-agent system on digraphs

The generalized average consensus of heterogeneous multi agent system with discrete time on general strongly connected digraphs was investigated. Firstly, the definition of generalized average consensus was presented. Aiming at the study of average consensus confined to the balanced or symmetric network, a new linear distributed algorithm was proposed. The novelty is the augmentation of an additional variable for each agent, whose function is to record individual state update. By applying nonnegative matrices theory, graph theory and the eigenvalue perturbation theory, the consensus algorithm was studied. The result indicates that the algorithm guarantees state averaging on arbitrary strongly connected digraphs. Numerical simulations were given to demonstrate the effectiveness of the theoretical results.