一类异构多智能体系统一致性协议的收敛性分析

针对一阶二阶智能体组成的异构多智能体系统,采用了一种线性一致性协议,基于图论和矩阵分析的方法对一致性协议的收敛性进行研究,得出了一致性协议最终收敛值的表达式,并给出了收敛区间,通过参数优化设置可以实现系统收敛到该区间内任意给定的期望值.最后在仿真实例中,实现了异构多机器人系统在期望位置的聚集,仿真结果验证了理论分析的正确性.

Convergence analysis for consensus protocol of heterogeneous multi-agent systems

A linear consensus protocol for heterogeneous multi-agent systems composed of first-order and second-order agents is proposed. Graph theory and matrix theory are used to establish the convergence value expression of heterogeneous multi-agent systems. Based on the expression, the convergence interval is deduced. Then, the system can converge to arbitrary expected value in this interval via setting the parameters. Finally, in the simulation example, the rendezvous of multi-robot systems is implemented on expected position. Simulation result is provided to demonstrate the correctness of the theoretical results.