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Consensus in Continuous-Time Multiagent Systems Under Discontinuous Nonlinear Protocols

机译:间断非线性协议下连续时间多智能体系统的共识

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In this paper, we provide a theoretical analysis for nonlinear discontinuous consensus protocols in networks of multiagents over weighted directed graphs. By integrating the analytic tools from nonsmooth stability analysis and graph theory, we investigate networks with both fixed topology and randomly switching topology. For networks with a fixed topology, we provide a sufficient and necessary condition for asymptotic consensus, and the consensus value can be explicitly calculated. As to networks with switching topologies, we provide a sufficient condition for the network to realize consensus almost surely. In particular, we consider the case that the switching sequence is independent and identically distributed. As applications of the theoretical results, we introduce a generalized blinking model and show that consensus can be realized almost surely under the proposed protocols. Numerical simulations are also provided to illustrate the theoretical results.
机译:在本文中,我们为加权有向图上的多主体网络中的非线性不连续共识协议提供了理论分析。通过整合来自非平稳稳定性分析和图论的分析工具,我们研究了具有固定拓扑和随机切换拓扑的网络。对于具有固定拓扑的网络,我们提供了渐近共识的充分必要条件,并且可以明确计算共识值。对于具有交换拓扑的网络,我们为网络几乎可以肯定地实现共识提供了充分的条件。特别地,我们考虑切换序列是独立且均匀分布的情况。作为理论结果的应用,我们引入了一个广义的眨眼模型,并表明在提出的协议下几乎可以肯定地实现共识。还提供了数值模拟来说明理论结果。

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