[1]王晓宇,刘开恩,纪志坚,等.异质多智能体系统二分一致性的充要条件[J].智能系统学报,2020,15(4):679-686.[doi:10.11992/tis.201901008]
WANG Xiaoyu,LIU Kaien,JI Zhijian,et al.Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems[J].CAAI Transactions on Intelligent Systems,2020,15(4):679-686.[doi:10.11992/tis.201901008]
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WANG Xiaoyu,LIU Kaien,JI Zhijian,et al.Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems[J].CAAI Transactions on Intelligent Systems,2020,15(4):679-686.[doi:10.11992/tis.201901008]
异质多智能体系统二分一致性的充要条件
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
15
期数:
2020年第4期
页码:
679-686
栏目:
学术论文—智能系统
出版日期:
2020-07-05
- Title:
- Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems
- Keywords:
- heterogeneous multi-agent systems; bipartite consensus; gauge transformation; structural balance; continuous systems; discrete systems; algebraic graph theory; matrix theory
- 分类号:
- TP18
- 摘要:
- 针对由一阶智能体和二阶智能体组成的异质多智能体系统的二分一致性问题,对连续和离散系统情形分别设计了二分一致性协议。基于结构平衡的拓扑,通过规范变换实现了从具有敌对关系的系统到具有非负连接权重系统的转化，将二分一致性问题转变为一般一致性问题。进一步,运用代数图论和矩阵理论分析闭环控制系统的动态特性,得到了异质多智能体系统渐近实现二分一致性的充要条件。最后通过数值模拟验证了所得结果的有效性。
- Abstract:
- To investigate the bipartite consensus problem of heterogeneous multi-agent systems composed of first- and second-order agents, in this study, we designed bipartite consensus protocols for continuous and discrete systems. Based on a structurally balanced topology, we employ gauge transformation to transform a system with antagonistic interactions into one with non-negative connection weights. Accordingly, the bipartite consensus problem is transformed into a general consensus problem. We use algebraic graph theory and matrix theory to analyze the dynamic characteristics of the closed-loop control system and obtain the necessary and sufficient conditions to guarantee that heterogeneous multi-agent systems reach bipartite consensus asymptotically. Finally, we present numerical simulations to illustrate the effectiveness of the obtained theoretical results.
- 参考文献/References:
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[1]陈世明,邱昀,黄跃,等.基于牵制控制的异质多智能体系统的群一致性研究[J].智能系统学报,2019,14(2):355.[doi:10.11992/tis.201710002]
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备注/Memo
收稿日期:2019-01-08。
基金项目:国家自然科学基金项目（61873136，61603288，61374062）；山东省自然科学基金项目（ZR2015FM023，ZR2017MF055）；中国博士后科学基金项目（2015M571995）
作者简介:王晓宇，硕士研究生，主要研究方向为多智能体系统协作控制;刘开恩，副教授，博士，主要研究方向为多智能体系统分析与控制。主持山东省自然科学英才基金项目、中国博士后科学基金面上项目和青岛市博士后应用研究项目各1项。发表学术论文20余篇;纪志坚，教授，博士生导师，主要研究方向为群体系统动力学与协调控制、复杂网络、切换动力系统的分析与控制、系统生物以及基于网络的控制系统。主持国家自然科学基金项目3项。发表学术论文80余篇.
通讯作者:刘开恩.E-mail:kaienliu@pku.edu.cn
更新日期/Last Update:
2020-07-25