基于二阶邻居事件触发多智能体系统的一致性

针对多智能体系统的平均一致性问题，采用二阶邻居信息设计一致性协议以加速一致性收敛速度。同时，为了减少系统的通信次数，基于事件控制的方法被用于一致性协议的设计中。首先在固定拓扑网络下研究了多智能体系统利用二阶邻居信息来加速一致性收敛速度的问题，随后在切换拓扑网络下对类似问题进行了分析。最后，把该协议应用到数值仿真中，并与只利用一阶邻居信息的协议比较，仿真结果表明所设计的协议能够加快收敛速度。

Event-triggered consensus of multi-agent systems based on second-order neighbors

Based on the second-order neighbors’ information, consensus algorithm was proposed to accelerate the consensus convergence speed for the average consensus problem of multi-agent systems. Meanwhile, the event-based control method was used in the design of consensus algorithm in order to reduce the number of communications in the systems. Firstly, under a fixed topology network, we looked at speeding up the consensus convergence by getting the multiagent systems to apply information to their second-order neighbors; then, similar problems were analyzed under a switching topology network; finally, the protocol was applied in a numerical simulation and was compared with a protocol that applied information to only the first-order neighbors. The simulation results show that the proposed protocol can accelerate the convergence speed.