Consensus of Discrete-Time Linear Multi-Agent Systems with Observer-Type Protocols
Consensus of Discrete-Time Linear Multi-Agent Systems with Observer-Type Protocols
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DOI：
10.3934/dcdsb.2011.16.489
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发表时间：
2011-02
期刊：
影响因子：
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通讯作者：
Zhongkui Li;Z. Duan;Guanrong Chen
中科院分区：
文献类型：
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作者：
Zhongkui Li;Z. Duan;Guanrong Chen
本文研究了具有线性或线性化动态的离散时间多智能体系统的一致性问题。提出了一种基于相邻代理相对输出的多代理协议。这种具有有向通信拓扑的多智能体系统的一致性可以转化为一组具有与单个智能体相同的低维矩阵的稳定性。离散时间一致性区域的概念，然后介绍和分析。对于神经稳定剂，它示出，存在一个有界的共识区域的形式，一个开放的单位盘，只要每个代理是稳定的和可检测的，有一个boundver-type协议。进一步提出了一种算法来构造一个协议，以实现关于所有的通信拓扑结构包含一个生成树的共识。此外，对于代理在单位圆外没有极点的情况，提出了一种算法来构造一个以原点为中心的半径为$\delta$（$0<\delta<1$）的圆盘作为其共识区域的协议.最后，将一致性算法应用于多智能体系统编队控制问题的求解。
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system with a directed communication topology can be cast into the stability of a set of matrices with the same low dimension as that of a single agent. The notion of discrete-time consensus region is then introduced and analyzed. For neurally stable agents, it is shown that there exists an observer-type protocol having a bounded consensus region in the form of an open unit disk, provided that each agent is stabilizable and detectable. An algorithm is further presented to construct a protocol to achieve consensus with respect to all the communication topologies containing a spanning tree. Moreover, for the case where the agents have no poles outside the unit circle, an algorithm is proposed to construct a protocol having an origin-centered disk of radius $\delta$ ($0<\delta<1$) as its consensus region. Finally, the consensus algorithms are applied to solve formation control problems of multi-agent systems.