Optimal topology for consensus of heterogeneous multi-agent systems

被引：17
|
作者：
Wang, Huaizhu [1 ,2 ]
Ma, Jingying [1 ]
机构：
[1] Ningxia Univ, Sch Math & Comp, Yinchuan 750021, Peoples R China
[2] Beijing Jiaotong Univ, Key Lab Commun & Informat Syst, Beijing 100044, Peoples R China
来源：
NEUROCOMPUTING | 2016年 / 177卷
基金：
中国国家自然科学基金;
关键词：
Heterogeneous multi-agent system; Consensus; Linear-quadratic regulator; Optimal topology; FINITE-TIME CONSENSUS; LEADER-FOLLOWING CONSENSUS; DYNAMIC AGENTS; VELOCITY-MEASUREMENTS; SWITCHING TOPOLOGIES; INPUT SATURATION; NETWORKS;
D O I：
10.1016/j.neucom.2015.11.076
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Consensus can be achieved under various topologies for multi-agent systems. Then, which one is the optimal? In this paper, we consider the problem of optimal topology for consensus of heterogeneous multi-agent systems. We assume that the system consists of a leader and several followers with heterogeneous dynamics. Firstly, we define a quadratic cost function composed of consensus error and control effort for the heterogeneous multi-agent system. Secondly, by using linear-quadratic regulator theory and matrix theory, we prove that the optimal position topology and the optimal velocity topology are star graphs. Finally, simulations are carried out to illustrate the effectiveness of the theoretical results. (C) 2015 Elsevier B.V. All rights reserved.
引用
收藏
页码：594 / 599
页数：6
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