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多智能体系统的主要研究目的在于探索由个体之间的相互作用所产生的群体协调现象的内在机制和原理。该文设计出一种广义局部线性交互协议,对固定有向网络拓扑条件下的二阶多智能体网络系统的一致性行为进行了深入研究,得到了一个能保证多智能体网络达到一致的充分必要条件。并且,还确定了多智能体网络系统在达到一致时,最终的收敛状态由协议的线性增益、有向网络拓扑和所有智能体的初始值位移状态共同决定。最后,采用5个智能体组成的网络拓扑进行数值仿真,阐释了理论分析结果。
The main research purpose of multi-agent system is to explore the internal mechanism and principle of group coordination arising from the interaction between individuals. In this paper, a generalized local linear reciprocal protocol is designed to study the consistency of the second-order multi-agent network system under the condition of fixed directed network topologies. We obtain a sufficient and sufficient condition to ensure the consistency of multi-agent networks Necessary conditions. Moreover, it is also confirmed that when the multi-agent network system reaches consensus, the final convergence state is determined by the linear gain of the protocol, the directed network topology and the initial value displacement state of all agents. Finally, the numerical simulation is carried out by using the network topology composed of five agents, which explains the theoretical analysis results.