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.

Impulsive consensus of networked multi-agent system with a leader

The coordination and cooperative control of networked multi agent systems has many significant applications in the engineering world.This paper investigated the impulsive consensus problem of multi-agent system with an active leader.It is assumed that only one agent of the network updates its state in the impulse manner based on its and the leader’s position at a series of discrete moments.By using tools from matrix theory,numerical analysis and the theory of impulsive differential equation,a simple yet generic criterion was then derived for consensus of the multi agent system.Consequently,computer numerical simulations verify and also visualize the theoretical results,which shows the impacts of the impulsive duration and impulsive strength on the convergence rate.