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合作竞争网络下的多智能体系统比例一致性
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Abstract:
针对合作竞争网络下的多智能体系统，本文研究了其在无向和有向拓扑下的比例一致性问题。假设系统中的智能体具有一般线性动态，提出了比例一致性协议。首先，应用代数图论和矩阵理论的相关知识，将比例一致性问题转化为一组低维系统的稳定性问题；然后，利用Lyapunov稳定理论得到了该低维系统稳定的条件，并给出了系统达到比例一致性的充分条件；最后，通过数值仿真验证了理论结果的正确性和有效性。
The scaled consensus of multi-agent systems in undirected and directed topologies is studied for cooperative-competitive networks in this paper. Assuming that the agents have general linear dynamics in multi-agent systems, the scaled consensus protocol is proposed. Firstly, by applying the knowledge of the algebraic graph theory and the matrix theory, the problem of the scaled consensus is cast into the stability of a set of low-dimensional systems. Then, using the stability theory of Lyapunov, the stability condition of the low-dimensional systems is obtained by using Lyapunov stability theory, and sufficient conditions for the system to reach the scaled consensus are given. Finally, the correctness and effectiveness of the theoretical results are verified by the numerical simulation.
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