二阶邻居协议下多智能体系统能控能观性保持

摘要

In order to study the characteristics of the consensus, controllability and observability of multi-agent systems, we analyze the consensus speed of a multi-agent system with time-varying topologies under first-order and second-order neighborhood protocols.By utilizing the properties of the structural controllability and the relationship between the second-smallest eigenvalue of the Laplacian matrix and the consensus speed, we designed a control strategy to maintain both controllability and observability.In addition, we concluded that the multi-agent system had a faster consensus speed under the second-order neighborhood protocol.Using examples and simulations, we verified the two main theorems proposed in this paper, with our observed results in full agreement with the conclusions of our theoretical analysis.%为了研究多智能体系统的一致性特点及能控、能观性保持策略,分析了具有时变拓扑结构的多智能体系统在一阶邻居协议和二阶邻居协议下的一致性速度,针对拓扑结构的特殊性,利用结构能控性性质和拉普拉斯矩阵第二小特征值与一致性速度之间存在的关系设计出一种使能控性和能观测性保持的控制策略.此外,得出多智能体系统在二阶邻居协议下,具有更快的一致性速度的结论.文中2个主要定理分别通过算例和仿真进行验证,算例和仿真结果与定理结论一致.