通信受限的多智能体系统二分实用一致性

针对存在量化数据、通信时滞等通信约束以及带有竞争关系的多智能体系统, 研究其二分实用一致性问题, 提出了一种基于量化器的分布式控制协议. 该协议基于结构平衡拓扑假设, 通过规范变换将具有竞争关系系统转变为具有非负连接权重系统, 使二分实用一致性问题转变为一般实用一致性问题. 利用微分包含理论、菲利波夫解的框架、代数图论以及Lyapunov稳定性理论, 证明了在本文所提控制策略下, 具有竞争关系的多智能体系统能实现二分实用一致, 即智能体状态收敛至模相同但符号不同的可控区间, 并给出了误差收敛上界值. 仿真试验进一步验证了理论结果的有效性.

Bipartite Practical Consensus Control of Multi-agent Systems With Communication Constraints

This paper investigates the bipartite practical consensus problem for a multi-agent system subject to quantization and communication delay. The interaction between agents is modeled by a structurally balanced topology, where both cooperation and competition coexist within a group. Based on the quantizer, a novel distributed controller is proposed. Up to a virtue of the gauge transformation, a system with competition interactions is equivalent to a system with non-negative connection weights. Accordingly, the bipartite practical consensus problem is turned into the general practical consensus problem. By employing the theory of differential inclusion, the framework of Filippov solution, Lyapunov stability theory and algebraic graph theory, we prove that all agents can be guaranteed to converge to an interval which is the same for all in modulus but not in sign and obtain the upper bound of convergence error. The simulation results are provided to demonstrate the effectiveness of the theoretical results.