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几类多智能体系统一致性研究.pdf

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几类多智能体系统一致性研究论文

Æ , ℄. , . ℄ , , . , , . : : : : , . , . , , . Æ. , Laplacian , , ; , , , , ; , , . . ; ; ; . i Abstract Multi-agent system theory has been a research focus of control theory in recent years. The research of coordination control among agents is one of the important problems in the ﬁeld of multi-agent system research. In a multi-agent system, consensus means that some of the agents’ states reach at the same values, and consensus algorithm is a protocol for agents reach consensus based on local information. This paper studies three multi-agent systems. First, the eigenvalues of the cor- responding Laplacian matrix is used to study the consensus problem of second-order discrete-time systems. Then some suﬃcient and necessary conditions are derived that all agents reach consensus on their states. Secondly, by the frequency domain analysis, a suﬃcient and necessary condition of the second-order continue-time systems reach consensus is derived and the largest tolerable delay is given. Finally, by the stability, the static consensus problem is considered for a class of high-order multi-agent systems. The simulation examples are provided to show the eﬀectiveness of our theoretical re- sults in this paper. Key words: multi-agent system; consensus; graph theory; ﬁxed topology. ii ℄ . . . . . . . . . . .