Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks

Hao-liang LI; Ren-nong YANG; Qiu-ni LI

doi:10.1631/FITEE.1601422

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Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks

Regular Papers | Updated：2022-05-19

- Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks
- 一种新型的有向拓扑条件下普通线性多智能体系统的一致性协议
- Frontiers of Information Technology & Electronic Engineering Vol. 18, Issue 8, Pages: 1071-1081(2017)
- Affiliations：
  
  Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi'an 710038, China
- Author bio：
  
  Hao-liang LI, E-mail: lihaoliang10524@163.com
- Funds：
- DOI：10.1631/FITEE.1601422
  CLC： TP13
- Received：16 July 2016，
  
  Revised：2017-;8-;1，
  
  Published：2017-08
- Accepted：
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Hao-liang LI, Ren-nong YANG, Qiu-ni LI. Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(8): 1071-1081.
DOI：

Hao-liang LI, Ren-nong YANG, Qiu-ni LI. Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(8): 1071-1081. DOI： 10.1631/FITEE.1601422.

摘要

本文研究了普通线性多智能体系统在有向拓扑条件下的一致性问题。首先基于分布式PID（Proportional-integral-derivative）控制提出了一种新的一致性协议，然后通过变量转换将一致性问题转变为一个渐进稳定问题，通过状态投影方法给出了系统实现一致性的充分必要条件和一致性函数的显示表达式，然后构建Lyapunov函数，基于线性矩阵不等式（Linear matrix inequality

LMI）给出了一致性协议中增益矩阵的范围，最后通过两组实验来验证这种方法的优势。仿真结果表明了所提方法的有效性。

Abstract

The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First

a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second

the consensus problem is converted into an asymptotic stability problem through transformations. Third

through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then

a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally

two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.

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references

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