非平衡拓扑结构的多智能体网络系统一致性协议-控制理论与应用.PDF

26 10 Vol. 26 No. 10 2009 10 Control Theory Applications Oct. 2009 :2009 , , (1. , 066004; 2. , 100190) : , . , 1 . , , . , , . 8, . : ; ; ; ; : TP13 : A Consensus protocol in networked multi-agent systems with non-balanced topology TAN Fu-xiao , GUAN Xin-ping , LIU De-rong (1. College of Electrical Engineering, Yanshan University, Qinhuangdao Hebei 066004, China; 2. The Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China) Abstract: For non-balanced topology of networked multi-agent systems, the consensus protocols of continuous time- invariant systems and discrete-time systems are investigated, respectively. First, the digraph(directed graph) is used to rep- resent the topology of multi-agent systems, and then, a first-order integrator model and a consensus convergence criterion of systems are established. Second, we prove that consensus value of continuous time-invariant systems converges globally asymptotically to the convex combination of initial states, thus, determining the consensus value of the non-balanced topol- ogy. If the topology is fixed and time-invariant, the consensus value of discrete-time systems also globally asymptotically converges to the convex combination of initial states, which is identical to continuous systems. Finally, two simulation examples of eight agents with different states verify the theory. Key words: networked multi-agent systems; digraph(directed