Basic consensus problems in multi-agent systems with switching interconnection graphs
Basic consensus problems in multi-agent systems with switching interconnection graphs
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DOI：
10.1080/00207179.2014.971431
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发表时间：
2013-12
期刊：
影响因子：
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通讯作者：
G. Zhai;Chi Huang
中科院分区：
文献类型：
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作者：
G. Zhai;Chi Huang
我们考虑了几个基本的共识问题，在多智能体系统切换互连图，其中任何两个代理之间的连接被假定为双向符号简单。当交换互连图总是连通时，文献中已经表明，基于拉普拉斯算子的算法总是实现平均一致性。我们首先扩展讨论的情况下，断开连接的互连图涉及，通过显示，平均共识仍然是实现的，如果连接的图形和断开的之间的停留时间比满足一个特定的条件。接下来，我们考虑的情况下，没有连接的图，但一组图的组合是连接的，并提出了两个切换策略，以实现平均共识。最后给出了几个算例来说明算法的有效性。
We consider several basic consensus problems in multi-agents systems with switching interconnection graphs, where the connections between any two agents are assumed bidirectional for notation simplicity. When the switching interconnection graphs are always connected, it has been shown in the literature that the Laplacian based algorithm always achieves the average consensus. We first extend the discussion to the case where disconnected interconnection graphs are involved, by showing that the average consensus is still achieved if the dwell time ratio between connected graphs and disconnected ones satisfies a specified condition. Next, we consider the case where there is no connected graph but the combination of a set of graphs is connected, and propose two switching strategies for achieving the average consensus. Several numerical examples are provided to show the algorithms.