一类异构多智能体系统固定和切换拓扑下的一致性分析

摘要

对包含一阶二阶智能体的异构系统有向图中的一致性问题进行研究。对该系统采用了一种线性分布式一致性协议，基于图论和矩阵分析的方法，分析了在固定和切换拓扑情况下系统获得一致性的充分条件，该条件与控制参数和通信拓扑有关。给出了固定拓扑中系统的一致平衡点，证明了仅通信拓扑中的根节点对平衡点起作用。数值仿真验证了理论分析的正确性。%The consensus problem of heterogeneous multi-agent systems composed of first-order agents and second-order a-gents in directed graph is investigated. A linear consensus protocol is proposed for solving such a consensus problem. The sufficient conditions for achieving consensus are established by using the graph theory and matrix theory in fixed and switching topology respectively, and these conditions are dependent on control gain and communication topology. Consensus equilibrium point is derived in the fixed topology. It is proved that only root nodes in the interaction topol-ogy can make contributions to the equilibrium point. Numerical examples are provided to prove the correctness of the theorems.