Consensus for heterogeneous multi-agent systems under fixed and switching topologies

被引：102
作者：
Liu, Kaien [1 ,2 ]
Ji, Zhijian [1 ]
Xie, Guangming [3 ,4 ]
Wang, Long [3 ,4 ]
机构：
[1] Qingdao Univ, Coll Automat Engn, Qingdao 266071, Shandong, Peoples R China
[2] Qingdao Univ, Sch Math, Qingdao 266071, Shandong, Peoples R China
[3] Peking Univ, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
[4] Peking Univ, Coll Engn, Beijing 100871, Peoples R China
来源：
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2015年 / 352卷 / 09期
基金：
中国博士后科学基金;
关键词：
NETWORKS; AGENTS; COORDINATION; DYNAMICS; SEEKING;
D O I：
10.1016/j.jfranklin.2015.03.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The consensus problem for heterogeneous multi-agent systems under directed topologies is investigated. For continuous-time systems, a novel consensus algorithm is proposed. Based on a system transformation method, the consensus problem for heterogeneous multi-agent systems is converted into a consensus problem for homogeneous multi-agent systems. Necessary and sufficient conditions are presented to guarantee that the designed consensus algorithm asymptotically solves the consensus for heterogeneous multi-agent systems under a fixed topology. The final convergence states are shown explicitly for this case. Sufficient conditions are given to guarantee that heterogeneous multi-agent systems reach consensus asymptotically under switching topologies. The obtained results are superior obviously to the existing ones in the literature. The counterparts about discrete-time systems are also investigated. Both periodic sampling and nonperiodic sampling are considered. Numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results. (C) 2015 The Franldin Institute. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：3670 / 3683
页数：14
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