Consensus in multi‐agent systems with communication constraints
Consensus in multi‐agent systems with communication constraints
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DOI：
10.1002/rnc.1687
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发表时间：
2012-01
影响因子：
3.9
通讯作者：
G. Wen;Z. Duan;Wenwu Yu;Guanrong Chen
中科院分区：
文献类型：
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作者：
G. Wen;Z. Duan;Wenwu Yu;Guanrong Chen
本文研究了一类具有固定有向拓扑和通信约束的多智能体系统的二阶一致性问题，其中每个智能体只在一些不连通的时间间隔内与其邻居共享信息。提出了一种基于同步间歇局部信息反馈的一致性协议，用于协调多个智能体在固定强连通拓扑下的状态收敛到二阶一致性，并将其推广到通信拓扑包含有向生成树的情况。利用代数图论和李亚普诺夫控制方法，证明了当通信拓扑的一般代数连通度大于某一阈值，且移动代理随着网络的演化而与邻居通信足够频繁时，可以达到二阶一致性。最后，通过数值算例验证了理论分析的正确性。版权所有©2011 John Wiley&Sons，Ltd.
The problem of second‐order consensus is investigated in this paper for a class of multi‐agent systems with a fixed directed topology and communication constraints where each agent is assumed to share information only with its neighbors on some disconnected time intervals. A novel consensus protocol designed based on synchronous intermittent local information feedback is proposed to coordinate the states of agents to converge to second‐order consensus under a fixed strongly connected topology, which is then extended to the case where the communication topology contains a directed spanning tree. By using tools from algebraic graph theory and Lyapunov control approach, it is proved that second‐order consensus can be reached if the general algebraic connectivity of the communication topology is larger than a threshold value and the mobile agents communicate with their neighbors frequently enough as the network evolves. Finally, a numerical example is simulated to verify the theoretical analysis. Copyright © 2011 John Wiley & Sons, Ltd.