On topology and dynamics of consensus among linear high-order agents
On topology and dynamics of consensus among linear high-order agents
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DOI：
10.1080/00207721003658202
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发表时间：
2011-10
影响因子：
4.3
通讯作者：
Peter Wieland;Jung-Su Kim;F. Allgöwer
中科院分区：
文献类型：
--
作者：
Peter Wieland;Jung-Su Kim;F. Allgöwer
研究了有领导和无领导的多智能体系统中智能体群的共识问题。所有的智能体都是由相同的n阶线性动力系统建模，而当领导者存在时，它可能根据不同的同阶线性模型进化。agent之间的互连拓扑被建模为一个有向加权图。我们提供了群体是否趋同于共识以及群体最终达到什么共识值等问题的答案。为此，我们详细分析了图拉普拉斯算子的相关代数性质。此外，在一般情况下，我们提出了一种基于lmi的群体共识设计。
Consensus of a group of agents in a multi-agent system with and without a leader is considered. All agents are modelled by identical linear n-th order dynamical systems while the leader, when it exists, may evolve according to a different linear model of the same order. The interconnection topology between the agents is modelled as a directed weighted graph. We provide answers to the questions of whether the group converges to consensus and what consensus value the group eventually reaches. To that end, we give a detailed analysis of relevant algebraic properties of the graph Laplacian. Furthermore, we propose an LMI-based design for group consensus in the general case.