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| 一类异质多智能体系统的一致性控制 | |
| 引用本文： | 冯元珍 屠小明 李建祯. 一类异质多智能体系统的一致性控制[J]. 计算机应用, 2013, 33(6): 1750-1758. DOI: 10.3724/SP.J.1087.2013.01750 |
| 作者姓名： | 冯元珍 屠小明 李建祯 |
| 作者单位： | 1. 南京理工大学 自动化学院，南京 2100942. 南京人口管理干部学院 基础部， 南京 2100423. 南京医科大学 基础医学院， 南京 2100294. 江苏科技大学 电子信息学院, 江苏 镇江 212003 |
| 基金项目： | 国家自然科学基金资助项目（51175135） |
| 摘 要： | 针对一类由连续时间一阶和二阶智能体组成的异质多智能体系统，首先给出一阶和二阶智能体实现一致性的算法，其次利用图论和矩阵理论相关知识，在固定有向拓扑结构下，给出异质多智能体系统实现一致性的充要条件，且在一致性实现时给出一致性状态的确切表达式；在切换拓扑结构下，给出异质多智能体系统实现一致性的充分条件。最后给出数值算例验证了相关结论的有效性。 |
| 关 键 词： | 异质多智能体系统 一致性 有向拓扑 |
| 收稿时间： | 2012-12-10 |
| 修稿时间： | 2013-01-24 |
Consensus control for a class of heterogeneous multi-Agent systems |
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| FENG Yuanzhen TU Xiaoming LI Jianzhen. Consensus control for a class of heterogeneous multi-Agent systems[J]. Journal of Computer Applications, 2013, 33(6): 1750-1758. DOI: 10.3724/SP.J.1087.2013.01750 | |
| Authors: | FENG Yuanzhen TU Xiaoming LI Jianzhen |
| Affiliation: | 1. Department of Basic Science, Nanjing College for Population Program Management, Nanjing Jiangsu 210042, China 2. School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu 210094, China 3. School of Basic Medical Science, Nanjing Medical University, Nanjing Jiangsu 210029, China 4. School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang Jiangsu 212003, China |
| Abstract: | The consensus problem for a class of heterogeneous multi-Agent systems was investigated in this paper, where the multi-Agent systems were composed of first-order Agents and second-order Agents. First, consensus protocols were proposed for first-order Agents and second-order Agents, respectively. Then, necessary and sufficient condition was presented for heterogeneous multi-Agent systems with fixed and directed communication topology to reach consensus by using tools from graph theory and matrix theory. Besides, the final consensus states were specified if consensus is achieved to the case of fixed communication topology. Furthermore, sufficient condition was derived for heterogeneous multi-Agent systems with switching and directed communication topologies to reach consensus. Finally, a simulation example was given to demonstrate the effectiveness of theoretical results. |
| Keywords: | heterogeneous multi-Agent system consensus directed topology |
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