【作者】 俞辉； 蹇继贵；

【Author】 Yu Hui,Jian Jigui Institute of Nonlinear and Complex Systems,China Three Gorges University,Yichang 443002,P.R.China

【机构】 三峡大学非线性与复杂系统研究所；

【摘要】 对多智能体有向网络的一致性问题进行了研究。提出了加权平均一致性的新概念。基于一类分散协调控制器使多智能体网络在固定和切换的网络拓扑取得全局渐近加权平均一致性。建立了图Laplacian矩阵的Fiedler特征值与系统表现之间的关系,从理论上证明了有向网络的强连通性及一类称为平衡图的有向图在解决加权平均一致性问题中扮演着关键角色。基于平衡图的特性,提出了一类不一致性函数(即Lyapunov函数),以进行有向网络的收敛性分析及有向切换网络的鲁棒性分析。最后,对多智能体有向网络具有切换拓扑的情形给出了仿真示例,对理论结果进行了验证。更多还原

【Abstract】 The consensus problem in directed networks of multiagent is studied.A new notion,called weighted average-consensus,is proposed and a class of distributed controller is applied to achieve global asymptotically weighted average-consensus in networks of multiagent with fixed and switching topology.We establish a connection between the Fiedler eigenvalue of the graph Laplacian and the performance of this consensus controller.It is proved theoretically that the strongly connectedness of directed graph and a class of directed graphs,called balanced graphs,play a crucial role in solving weighted average-consensus problems.Based on the properties of balanced graphs,a group disagreement function(i.e.Lyapunov function) is proposed for convergence analysis of this consensus controller in directed networks and for robustness analysis in directed networks with switching topology.Finally,simulation example is provided for consensus problem in networks with switching topology to validate the theoretical results.更多还原