【摘要】 针对2阶多智能体网络的群一致性问题,提出了基于牵引控制方法的群一致性协议.考虑到网络模型具有切换拓扑结构,在模型中引入相应的虚拟领导者.对于网络中的每一个智能体,其一致性协议依赖于智能体邻居的状态及速度信息,并受到虚拟领导者的牵引控制;进一步地,来自虚拟领导者的牵引控制可以随时间发生变换.利用代数图论、线性矩阵不等式和李亚普诺夫稳定性理论,对网络进行群一致性分析,给出了切换拓扑下2阶多智能体网络达到群一致性的充分条件.最后,数值仿真验证了理论结果的有效性.更多还原

【Abstract】 Aiming at the group consensus problem of second-order multi-agent networks,we propose a group consensus control protocol based on the pinning control strategy.Considering that the network model has switching topologies,we introduce the corresponding virtual leaders into the model.The consensus protocol given for each agent in the network relies on the position information and the velocity information from the neighboring agents and the pinning control from the virtual leaders.Furthermore,the pinning control from the virtual leaders can be time-varying.Using algebraic graph theory,linear matrix inequality,and Lyapunov stability theory,we analyze the group consensus and provide some sufficient conditions on the consensus for the multi-agent networks with switching topologies.Finally,numerical simulations verify the validity of the theoretical results.更多还原