Global target aggregation and state agreement of nonlinear multi-agent systems with switching topologies
Global target aggregation and state agreement of nonlinear multi-agent systems with switching topologies
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DOI：
10.1016/j.automatica.2008.12.015
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
Guodong Shi;Yiguang Hong
中科院分区：
文献类型：
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作者：
Guodong Shi;Yiguang Hong
本文讨论了自治智能体群的协调问题，包括目标向凸集的聚集和状态一致问题。利用时间区间[t，+∞]中联合拓扑上的连通性假设所描述的交换互连拓扑，研究了由领导者(有信息的智能体)和跟随者组成的整个智能体组在任意时间t的聚集到给定集合的问题，并用类似的方法研究了状态一致问题。给出了一种基于集稳定性和极限集分析的多智能体收敛问题的研究方法。借助于图论和凸分析，得到了一些重要情况下的协调条件，结果表明，简单的局部规则可以使具有一阶非线性个体动力学的网络代理达到期望的集体行为。
In this paper, we discuss coordination problems of a group of autonomous agents, including the target aggregation to a convex set and the state agreement. The aggregation of the whole agent group, consisting of leaders (informed agents) and followers, to a given set is investigated with switching interconnection topologies described by the connectivity assumptions on the joint topology in the time interval [t,+∞) for any time t, and then the state agreement problem is studied in a similar way. An approach based on set stability and limit set analysis is given to study the multi-agent convergence problems. With the help of graph theory and convex analysis, coordination conditions are obtained in some important cases, and the results show that simple local rules can make the networked agents with first-order nonlinear individual dynamics achieve desired collective behaviors.