具有引导者的多智能体网络系统的脉冲一致性

多智能体网络系统的协调与控制在工程领域中有着重要的作用. 本文给出了具有引导者的一阶多智能体网络系统的动力学模型. 模型中, 假设网络系统中仅有一个智能体在一系列离散时刻基于自身及引导者的信息, 以脉冲跳跃方式改变自身的状态.应用矩阵理论、数值分析理论、脉冲微分方程等理论给出了网络系统达到一致的一个充分条件. 计算机仿真实验验证了算法的正确性和有效性,展示了系统的一致收敛速度与脉冲间隔、脉冲强度之间的关系.     

离散多智能体系统信息一致性的平衡点

研究了离散多智能体系统信息一致性的平衡点问题.对于固定通信结构系统,基于非负随机矩阵谱半径及其对应的左特征向量,证明了在系统的通信拓扑所含的生成树中,仅根节点对平衡点有作用.对于时变通信结构系统,根据同阶非负矩阵样式的有限性,证明了在动态通信拓扑的联合中,仅那些到任意节点都存在有向路径的顶点对平衡点有作用.数值算例验证了理论结果的正确性.     

一种多智能体系统一致性协议仿真系统的设计

介绍了一种对多智能体系统一致性协议进行快速仿真的软件系统,给出了该仿真系统的组成框架、工作流程、系统设计中的关键问题及处理方法.该仿真系统界面友好,采用Matlab软件语法描述一致性协议,用图形化方式输入系统邻接矩阵,以Matlab标准图形用多种形式展现仿真结果,用户易于掌握使用并能用该仿真系统快速开发一致性协议仿真方...     

多智能体网络系统的自适应协调控制

为实现多智能体网络系统的协调控制,设计了一种新型的带有自适应协调器的控制器.基于动态图建立了多智能体网络系统的模型,并考虑了系统的非线性互联和不可避免存在的时变时滞.应用分布式控制策略,设计了自适应参数估计的协调器,用于调节智能体之间的互联强度,使网络达到稳定的预设水平.并基于Lyapunov-Kra-sovskii泛函和自适应动态偏差反馈控制技术,根据拉萨尔不变集原理证明了偏差控制系统的渐近收敛性.这种控制方法,可在系统参数不确定的情况下,同时完成参数估计和协调控制.所设计的控制律和自适应律简单,易于实现,仿真示例验证了所提方法的有效性.     

端口受控哈密顿多智能体系统的输出一致性协议设计

研究了端口受控哈密顿（PCH）多智能体系统分别在固定和切换拓扑下的输出一致性问题. 首先根据哈密顿系统特有的优势,运用能量整形思路设计了一个全局稳定的群组输出一致性协议,该协议通过构造虚拟邻居的方式将有向图转化成无向图. 其次通过利用推广的LaSalle's不变原理将切换拓扑的问题转化成切换系统来研究. 例子证明,本文很好的解决端口受控哈密顿（PCH）多智能体系统的输出一致性问题.     

多智能体系统的非震颤固定时间一致性

研究了多智能体系统的非震颤固定时间一致性问题。基于李雅普诺夫稳定性理论,导出了实现固定时间一致性的充分条件,其中到达一致时间的上界估计不再依赖于多智能体系统的初始状态条件。此外,与传统含有符号函数的有限时间和固定时间控制器不同的是,所提出的新颖控制方案是非震颤的,有利于多智能体系统的一致性性能表征。最后,用一个数值例子验证了理论分析结果的有效性和可行性。     

多智能体时滞网络的加权平均一致性

提出了线性和非线性分布式协调控制器,使多智能体系统取得加权平均一致性.对于线性控制器,考虑网络存在通信时间延迟的情形,给出了能容忍的最大固定时滞的一个紧凑上界.考虑网络结点控制输入的有界约束,给出了一类非线性分布式控制器的收敛性分析.结果说明,网络的连通性是系统取得一致性的关键.最后对时滞网络的情形给出了仿真示例.     

切换拓扑结构下多智能体系统的一致性研究

针对一类多智能体系统,研究了系统在切换拓扑结构下的一致性控制问题。假定系统拓扑结构的变化符合马尔可夫过程,设计与切换拓扑结构相关的一致性协议,利用线性矩阵不等式和随机稳定性理论,给出了多智能体系统满足一致性的充分条件,并通过数值仿真验证了所提控制方案的可行性和有效性。     

有向图中基于扰动观测器的线性多智能体系统一致性

在有向图中,针对多智能体系统中智能体动力学存在扰动的情形,研究了系统的一致性问题.每个智能体的动力学模型为存在未知外部扰动的一般线性系统.在有向图是强连通的条件下,通过设计一种基于扰动观测器的分布式算法,实现了存在未知扰动的线性多智能体系统的一致性.最后通过仿真验证所提算法的有效性.     

不确定通信拓扑下多智能体系统鲁棒一致性

本文研究一类具有通信不确定的多智能体系统鲁棒一致性问题.本文提出基于标称通信拓扑有向生成树的线性变换方法,将线性多智能体系统的状态一致性问题转化为相应线性系统的鲁棒部分变元渐近稳定性问题.首先采用基于有向生成树关联矩阵的线性变换,将多智能体系统网络的全局状态方程转化为一个降阶子系统;其次,将拉普拉斯矩阵的摄动部分进行分解,利用降阶系统设计鲁棒二次镇定控制器,推导出所有智能体状态达到渐近一致的充分条件.在此基础上将控制协议的参数设计转化为求解线性矩阵不等式的可行解.最后,通过数值仿真验证了所提出的一致性协议分析与设计方法的可行性和有效性.     

Consensus of networked multi-agent systems with communication delays based on the networked predictive control scheme

The consensus problem of discrete-time networked multi-agent systems (NMASs) with a communication delay is investigated in this article, where the dynamics of agents described by discrete-time linear time-invariant systems can be either uniform or non-uniform. For the NMASs with a directed topology and constant delay, a novel protocol based on the networked predictive control scheme is proposed to compensate for communication delay actively. Using algebraic graph theories and matrix theories, necessary and/or sufficient conditions of achieving consensus are obtained, which indicates that, under the proposed protocol, the consensus is independent of the network delay and only dominated by agents' dynamics and communication topology. Meanwhile, the protocol design and consensus analysis are also presented in the case of no network delay. Simulation results are further presented to demonstrate the effectiveness of theoretical results.     

Consensus tracking of linear multi-agent systems under networked observability conditions

This paper addresses the consensus tracking problem for both continuous- and discrete-time linear multi-agent systems with a dynamic leader under networked observability conditions. Among followers, the communication topology is assumed to be undirected and connected. Two networked observability conditions are introduced and discussed. The first one extends the traditional detectability condition for a single system, while the second one is a full rank condition, which is stronger than the first one. In the continuous-time case, two distributed observer-based protocols are designed under corresponding networked observability conditions, respectively. Specifically, the second protocol is an adaptive one, which has a better robustness performance than the first one. In the discrete-time case, a distributed observer-based protocol is presented under the full rank networked observability condition. It is found that under the networked observability conditions, consensus tracking can still be achieved even if there exists no follower being able to track the leader independently. Based on algebraic graph theory and Lyapunov stability theory, some sufficient conditions are derived for reaching consensus tracking. Finally, simulation examples are presented to verify the effectiveness of theoretical results.     

Consensus problem of networked multi-agent systems with constant communication delay: stochastic switching topology case

This article proposes an observer-based control strategy for networked multi-agent systems with constant communication delay and stochastic switching topology. First, using the system transformation method, the mean-square consensus problem of multi-agent systems can be converted into the mean-square stability problem of an equivalent system, and some equivalent conditions concerning the mean-square consensus are presented. Then, an example is given to illustrate that the connection weights should be regarded as the parameters to be designed, since they have a great effect on the mean-square consensus of multi-agent systems. By choosing appropriate connection weights, the mean-square consensus problem can be converted into the mean-square stabilisation problem of N-1 delay systems with stochastic switching signal, whose related observer-based stabilisability criteria can be established in the form of linear matrix inequalities (LMIs). Furthermore, if the LMIs are feasible, the multi-agent systems achieve mean-square consensus if and only if the union of graphs in the switching topology set has a directed spanning tree. Finally, numerical simulations are given to illustrate our results.     

A novel group consensus protocol for heterogeneous multi-agent systems

In this paper, we consider the group consensus problem of heterogeneous multi-agent systems. Based on the feature of heterogeneous agents, a novel protocol is proposed for heterogeneous multi-agent systems. First, the state transformation method is used and an equivalent system is obtained. Then, the group consensus problem is analysed and some sufficient and/or necessary conditions are given for heterogenous multi-agent systems under undirected and directed networks, respectively. Finally, simulation examples are presented to demonstrate the effectiveness of the theoretical results.     

Interval consensus problem of multi-agent systems in accordance with switching protocol

In this paper, we discuss the interval consensus problem of multi-agent systems by providing a special Laplacian of directed graphs. As one of the most important issues in the coordination control of multi-agent systems, the consensus problem requires that the output of several spatially distributed agents reach a common value that depends on the states of all agents. For the given consensus protocol and initial states, a fixed consensus value is obtained. The resulting consensus value, however, may not be ideal or meet the quality that we require from the multi-agent system. In this paper, by introducing two state-dependent switching parameters into the consensus protocol, the system given by the proposed protocol can globally asymptotically converge to a designated point on a special closed and bounded interval. In other words, the system given by the proposed protocol can globally asymptotically reach interval consensus and then the system can also achieve a generalised interval average consensus if the directed graph is balanced. Simulations are presented to demonstrate the effectiveness of our theoretical results.     

受未知通信时滞影响的高阶多智能体系统的趋同

本文考虑了极点在闭左半平面的高阶连续多智能体系统的趋同问题.假设网络拓扑为有向图,且个体从邻居收到的信息存在通信时滞,分别得到与时滞无关和与时滞有关的两种趋同条件,这两个条件充分揭示了智能体结构、通信时滞和网络拓扑三者之间的关系.本文的核心方法是利用参数化代数Riccati方程的唯一正定解来设计趋同增益.此外,文中说明了通信时滞在有些情况下可为时变的.最后,数值例子验证了所得理论结果的有效性.     

Bipartite output consensus in networked multi-agent systems of high-order power integrators with signed digraph and input noises

In this paper, we concentrate on investigating bipartite output consensus in networked multi-agent systems of high-order power integrators. Systems with power integrator are ubiquitous among weakly coupled, unstable and underactuated mechanical systems. In the presence of input noises, an adaptive disturbance compensator and a technique of adding power integrator are introduced to the complex nonlinear multi-agent systems to reduce the deterioration of system performance. Additionally, due to the existence of negative communication weights among agents, whether bipartite output consensus of high-order power integrators can be achieved remains unknown. Therefore, it is of great importance to study this issue. The underlying idea of designing the distributed controller is to combine the output information of each agent itself and its neighbours, the state feedback within its internal system and input adaptive noise compensator all together. When the signed digraph is structurally balanced, bipartite output consensus can be reached. Finally, numerical simulations are provided to verify the validity of the developed criteria.     

Admissible consensus for networked singular multi-agent systems with communication delays

This study concerns the admissible consensus problem for networked singular multi-agent systems with communication delays and agents described by general singular systems. Only the information of outputs is available through the network. An observer-based networked predictive control scheme (NPCS) is employed to compensate for the communication delays actively. Based on NPCS and dynamic compensator (dynamic output feedback), a novel protocol is proposed. Based on graph, algebra and singular system theory, the necessary and sufficient conditions are given to guarantee existence of the proposed protocol. The conditions depend on the topologies of singular multi-agent systems and the structure properties of each agent dynamics. Moreover, a consensus algorithm is provided to design the predictive protocol. A numerical example demonstrates the effectiveness of compensation for networked delays.     

受干预多智能体系统平衡状态及目标追踪设计

针对拓扑结构无向连通的多智能体系统受到干预的问题,运用图论,矩阵论及极限理论,分析了系统状态保持一致性的条件,并得到了系统的平衡状态.设计了干预控制器,引导系统向任意指定地点聚集.给出了多智能体系统一致追踪移动目标的一致追踪算法.最后仿真研究实验说明了本文结论的正确性.