[1]LI Bo,WU Shuqin,GU Mingqin.Quasiaverageconsensus control of hybrid swarm agents with discrete time[J].CAAI Transactions on Intelligent Systems,2012,7(4):352-357.
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Quasiaverageconsensus control of hybrid swarm agents with discrete time

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 4 Page number: 352-357 Column: 学术论文—智能系统 Public date: 2012-08-25
Title:
Quasiaverageconsensus control of hybrid swarm agents with discrete time
Author(s):
LI Bo1;  WU Shuqin1;  GU Mingqin2
1. Satellite Positioning Application Engineering Research Center, Zhengzhou VCOM Science and Technology Co.〖KG-*1/4〗, Ltd.〖KG-*1/4〗， Zhengzhou 450000, China;
2. School of Information Science and Engineering, Central South University, Changsha 410083, China
Keywords:
consensus problem;  heterogeneous multiagent;  quasiaverage consensus;  discrete time
CLC:
TP18
DOI:
-
Abstract:
The consensus problem of time discrete for undirected multiagent networks with heterogeneous nodes of mixed first and second order integrators was covered in this paper. Corresponding quasiaverageconsensus protocol was proposed for both fixed and switching topology cases. The stability of a multiagent network was analyzed according to the Lyapunov function and algebra graph theory, and it was suggested that the mixed order multiagent system can reach a quasiaverageconsensus in a fixed and variable topology structure. Four different topologies of the network structure with 6 nodes were simulated, and the results show that the position and velocity of the discrete time variable topology of a heterogeneous multiagent network can reach a quasiaverageconsensus. The simulation results show that the algorithm is effective for quasiaverageconsensus control of mixed order multiagent networks.
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