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分析了具有时变拓扑结构的多智能体系统在一阶邻居协议和二阶邻居协议下的一致性速度,针对拓扑结构的特殊性,利用结构能控性性质和拉普拉斯矩阵第二小特征值与一致性速度之间存在的关系设计出一种使能控性和能观测性保持的控制策略。此外,得出多智能体系统在二阶邻居协议下,具有更快的一致性速度的结论。文中2个主要定理分别通过算例和仿真进行验证,算例和仿真结果与定理结论一致。
The consistency speed of multi-agent systems with time-varying topologies under first-order neighbor protocols and second-order neighbor protocols is analyzed. According to the particularity of topological structure, the property of structural controllability and the second smallest Laplacian matrix The relationship between the eigenvalue and the consistency velocity devised a control strategy that enabled controllability and observability retention. In addition, we conclude that the multi-agent system has faster consistency under the second-order neighbor protocol. The two main theorems are verified by examples and simulations respectively. The results of the examples and simulations agree well with the theorem.