离散多智能体系统分组一致性研究

摘要

针对一阶、二阶离散多智能体系统的分组一致性问题进行了研究.为了去除现有结果的一些保守假设,提出了两个新的分组一致性协议,新的协议反映了系统相同分组内与不同分组间智能体的相互影响.基于图论和稳定性理论,经过分析得到了两个保证系统一致的充分条件.最后,通过两个仿真实例证明了理论结果的有效性.%This paper investigated the group consensus problems of discrete-time multi-agent systems including first-order and second-order,respectively.Instead of relying on other conservative assumptions presented by the majority of the relevant existing research works,this paper presented two novel protocols which reflected the interaction influence among the agents in a group and the interaction influence between different groups in multi-agent system.Based on graph theory and theory of stability,this work obtained analytically two conditions which could guarantee the reaching of group consensus of the multi-agent networks.Finally,two numerical simulated examples verify the validity and correctness of this theory.