多智能体系统通信拓扑最优设计
The optimal design for interaction topology of multi-agent systems

运用控制理论, 矩阵论及最小二乘等理论, 研究了多智能体系统的分组一致性与系统通信拓扑图的拉普拉 斯矩阵属于特征值0的特征向量之间的关系. 给出了在线性协议控制下, 系统达到一致性和分组一致性, 其通信拓扑 的设计方法. 提出了一阶多智能体系统的总能量概念, 并得到了系统在能量最省时通信拓扑的最优设计. 仿真实例 佐证本文主要结论的正确性.
Based on graph theory, matrix theory and least square theory, the relationship is studied between the group consistency and the eigenvectors of Laplacian matrix associated with eigenvalue 0 for multi-agent systems. To obtain the consensus or group consistency, a design method for unidirectional information exchange topologies is provided based on the linear control protocol. The total energy is defined about the one-order multi-agent systems. And a optimal design is proposed so that the system energy is minimum. Simulation results are given to illustrate the effectiveness of theoretical results.