摘要:
首先给出多智能体系统的部分分量一致性概念,然后探讨有向网络拓扑结构下的一阶非线性领导-跟随多智能体系统的部分分量一致性问题.通过设计合适的牵引控制器,建立相应的误差系统,将多智能体系统的部分分量一致性转化为误差系统的部分变元稳定性,并运用矩阵理论和稳定性理论,导出该多智能体系统实现部分分量一致性的充分条件.数值模拟验证了理论结果的正确性.
Abstract:
Consensus problems, as basic topics in distributed coordination of multi-agent systems, have drawn a great deal of attention from different research fields. Generally, consensus refers to the asymptotic convergence of state variables of all agents with time evolution. In this paper, a concept on partial component consensus in multi-agent system is first given, which is a weaker dynamic behavior of group than the consensus in general, and then the problem of partial component consensus in leader-following first-order multi-agent system with the directed network topology is discussed. By designing an appropriate pinning control protocol and building corresponding error system, partial component consensus in multi-agent system is transformed into the partial variable stability of the error system. Using matrix theory and stability theory, a sufficient condition is given to realize partial component consensus in multi-agent system. Numerical simulations are given to illustrate the theoretical results.
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