Distributed consensus of multi-agent systems with general linear node dynamics and intermittent communications
Distributed consensus of multi-agent systems with general linear node dynamics and intermittent communications
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DOI：
10.1002/rnc.3001
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发表时间：
2014-11-10
影响因子：
3.9
通讯作者：
Chen, Guanrong
中科院分区：
文献类型：
--
作者：
Wen, Guanghui;Duan, Zhisheng;Chen, Guanrong
研究了具有一般线性节点动态和固定有向拓扑的多智能体系统的一致性问题，并在不假设移动智能体与相邻智能体始终保持通信的情况下，研究了多智能体系统的一致性问题。为了实现一致性，提出了一种新的基于间歇相对信息的分布式协议。利用矩阵分析和交换系统理论的工具，从理论上证明了具有周期性间歇通信和包含生成树的有向拓扑的多智能体系统的一致性可以转化为一组低维交换系统的稳定性。证明了在每个agent稳定且通信速率大于某一阈值的情况下，存在保证一致性的协议。此外，还提供了一个多步骤的间歇共识协议设计过程。然后将共识算法扩展到具有间歇通信约束的线性多智能体系统的群体控制问题和具有交换有向拓扑的共识跟踪问题。最后，通过数值模拟验证了理论结果的有效性。版权所有：John Wiley & Sons， Ltd。
Without assuming that the mobile agents can communicate with their neighbors all the time, the consensus problem of multi-agent systems with general linear node dynamics and a fixed directed topology is investigated. To achieve consensus, a new class of distributed protocols designed based only on the intermittent relative information are presented. By using tools from matrix analysis and switching systems theory, it is theoretically shown that the consensus in multi-agent systems with a periodic intermittent communication and directed topology containing a spanning tree can be cast into the stability of a set of low-dimensional switching systems. It is proved that there exists a protocol guaranteeing consensus if each agent is stabilizable and the communication rate is larger than a threshold value. Furthermore, a multi-step intermittent consensus protocol design procedure is provided. The consensus algorithm is then extended to solve the formation control problem of linear multi-agent systems with intermittent communication constraints as well as the consensus tracking problem with switching directed topologies. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results. Copyright (c) 2013 John Wiley & Sons, Ltd.