Distributed Prescribed-Time Interval Bipartite Consensus of Multi-Agent Systems on Directed Graphs: Theory and Experiment
Distributed Prescribed-Time Interval Bipartite Consensus of Multi-Agent Systems on Directed Graphs: Theory and Experiment
复制标题
有向图上多智能体系统的分布式规定时间间隔二分共识：理论与实验
DOI：
10.1109/tnse.2020.3047232
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发表时间：
2021-01
影响因子：
6.6
通讯作者：
Tingwen Huang
中科院分区：
文献类型：
--
作者：
Xin Gong;Yukang Cui;Jun Shen;Zhan Shu;Tingwen Huang
本文研究了有符号有向图上多智能体系统的规定时间间隔二部一致性的分析和协议设计问题。提出了一种具有局部签名错误的常数和时变混合反馈的分布式协议，该协议的共识时间周期与agent间的具体拓扑结构和所有agent的初始状态无关。通过引入一系列结构良好的李雅普诺夫函数，解决了有向图的不对称拉普拉斯矩阵所引起的技术难题。在结构平衡的有向图和具有正根子图的结构不平衡的有向图上，证明了该协议在带生成树的有向图上的多智能体系统的有效性。通过一个说明性的仿真实例和在一群纳米四轴飞行器上进行的规定时间二部形成实验，验证了所提协议的有效性和实用性。
This work deals with the analysis and protocol design problems of the prescribed-time interval bipartite consensus of multi-agent systems on signed and directed graphs. A new distributed protocol with hybrid constant and time-varying feedbacks of local signed error is proposed, whose consensus time period is independent of the specific topology among agents and initial states of all agents. By introducing a series of well-structured Lyapunov functions, the technical difficulties arising from the asymmetrical Laplacian matrices of directed graphs are circumvented. The effectiveness of this prescribed-time protocol for multi-agent systems on signed digraphs with a spanning tree is proven both on structurally balanced digraphs and structurally unbalanced ones with a positive root subgraph. An illustrative simulation example and a prescribed-time bipartite formation experiment on a swarm of nano-quadcopters are implemented to show the validity and practicability of these proposed protocols.
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DOI：
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