Dynamic behavior of discrete-time multiagent systems with general communication structures
Dynamic behavior of discrete-time multiagent systems with general communication structures
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DOI：
10.1016/j.physa.2006.03.063
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发表时间：
2006-10
影响因子：
3.3
通讯作者：
Feng Xiao;Long Wang
中科院分区：
文献类型：
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作者：
Feng Xiao;Long Wang
在本文中，我们讨论了一般通信拓扑结构的动态代理网络的动态行为。我们首先分析基本情况：具有生成树的通信拓扑的系统，即，解决共识问题的系统。我们建立了一个代数条件来描述每个代理的贡献的最终状态。我们还研究了时间延迟对每个代理人的贡献的影响。然后，我们研究一般情况下：系统的弱连通拓扑。利用矩阵理论，证明了在存在或不存在通信时滞的情况下，内部智能体的状态将收敛到边界智能体的凸组合，并且证明了即使时滞是时变的，凸组合的系数也与时滞无关.这些结果在其他领域有广泛的应用，例如，研究群体行为、车辆编队控制等。
In this paper, we discuss the dynamic behavior of networks of dynamic agents with general communication topologies. We first analyze the basic case: systems with communication topologies that have spanning trees, i.e., the systems that solve consensus problems. We establish an algebraic condition to characterize each agent's contributions to the final state. And we also study the influence of time-delays on each agent's contributions. Then, we investigate the general case: systems with weakly connected topologies. By using matrix theory, we prove that the states of internal agents will converge to a convex combination of boundary agents in the absence or presence of communication time-delays, and we also show that the coefficients of the convex combination are independent of time-delays even if the delays are time-varying. These results have broad applications in other areas, e.g., study of swarm behavior, formation control of vehicles, etc.