离散多智能体系统分组一致性分析

在有向拓扑结构下,研究离散多智能体系统的分组一致问题,提出无入度平衡假设条件的控制协议设计方法.首先,根据系统模型,设计离散多智能体系统的分组一致控制协议.其次,利用代数图论和矩阵论,分析并得到离散多智能体系统实现分组一致的充要条件.最后,仿真结果验证了理论分析结论的正确性.数值仿真结果表明:系统实现分组一致仅要求有向图G_n含有一个有向生成树,不要求拓扑结构满足入度平衡条件.

Group Consensus Analysis of Discrete-Time Multi-Agent Systems

In this paper, the protocol design method without in-degree balanced assumption was presented under the directed graph topology to investigate the grouping consensus problem for a class of discrete-time multi-agent systems. Firstly, based on the model of discrete-time multi-agent systems, a grouping consensus protocol was designed. Then, according to the algebraic graph theory and the matrix theory, the grouping consensus problem was studied. The sufficient and necessary condition of group consensus for the discrete-time multi-agent systems was obtained. Finally, simulation results demonstrated that the grouping consensus of the systems only required that the directed graph G_n had a direct spanning tree however the in-degree balanced assumption was not necessary.