一种基于切换拓扑结构的一致性协议及其稳定性

本文研究了一种新的基于最近邻法则的分布式离散形式的一致性协议,该协议只参考两个邻域成员状态进行状态演变、系统网络拓扑为无向连接切换拓扑图。文中还研究了邻域部分信息选取的策略,给出了策略的具体算法,并设计了公共Lyapunov函数,进行了系统的稳定性分析,对影响协议收敛的调整因子进行分析和证明。最后给出了对应的仿真实验,仿真实验以11个移动智能体的汇聚为例,实验结果表明,在新的协议下,智能体的移动能够保持时时连通,该多智能体系统的汇聚过程能表现出全局渐近稳定的结果,同时系统演化过程当中所需的存储量、计算量大为减少。

Sufficent condition on stability of a consensus protocol based on switching topology

In this study, the consensus protocol of a class of discrete-time multi-agent systems with switching topology is considered. A consensus algorithm is constructed by only reference to the states of two neighbors, and the topology of the system is bidirectional and switching. The strategy how to select some useful information from neighbors was considered and the algorithm was constructed. The sufficient condition on stability of the consensus protocol was provided by the theory of common Lyapunov function. And a parameter of affecting the convergence of the consensus was designed and proved. Finally, simulation results show the correctness of results, simulation experiment to 11 mobile aggregation agent show that , under the new consensus protocol , the mobile agent can maintain constant connectivity and the system was global asymptotical stable, and the information amount of storage and computation during the system evolving were greatly reduced.