无速度输入多智能体系统的一致性
Consensus of multi-agent systems without velocity input

本文研究了有无引导者的多智能体系统在非线性协议下的一致性问题. 当智能体速度信息无法获知时, 分别针对有 无引导者的多智能体系统设计了包含辅助系统和智能体相对位移信息的非线性分布式协议. 借助图论、 Lyapunov 稳定性理论、 Barbalat引理等方法, 推导出有无引导者的多智能体系统在连通无向通讯网络中实现一致的充分条件, 其次, 设计了一种新的能使引导―追随者多智能体系统在有向通讯网络中实现期望一致的协议. 最后, 数值仿真验证 了结果的正确性.
This paper investigates the consensus problem for multi-agent systems with and without a leader under the non-linear protocols. When the velocity information of agents are unavailable, the non-linear distributed protocols including auxiliary systems and relative position information of agents are designed for multi-agent systems with and without a leader respectively. By employing the methods of graph theory, Lyapunov stability theory, Barbalat lemma, the sufficient conditions for multi-agent systems with and without a leader to achieve consensus in undirected networks is developed. Secondly, a new protocol is derived to achieve the expected consensus with leader-following multi-agent systems in the directed communication network. Finally, the numerical simulation demonstrates the effectiveness of the theoretical results