l步信息脉冲牵引控制的多智能体一致性分析

应用矩阵论和代数图论，分析l步信息脉冲牵引控制的多智能体一致性问题。把具有单个脉冲控制器的多智能体的一致性系统推广到只对一个智能体实施l步信息脉冲牵引控制的系统。在通讯拓扑是无向连通图的情况下,给出使多智能体达到一致性的一个充分条件。选择恰当的l有助于减少使多智能体系统达到一致性所需的脉冲次数。最后,仿真实例验证了理论结果。

Consensus Analysis of Multi-Agent with Impulsive Pinning Control Based on l-Step Information

Based on matrix theory and algebraic graph theory,this paper analysed the consensus problem of multi-agent with impulsive pinning control based on l-step information.The consensus system of multi-agent with a single impulsive controller was extented to the case with impulsive pinning control based on l-step information for only one agent.Then a sufficient condition for multi-agent was provided to reach consensus when the communication topologies were undirected connected graphs.It was helpful to reduce the times of impulses by selecting an appropriate l.Finally,simulation examples were provided to illustrate the theoretical results.