Advanced Control Systems Lab, Electrical Engineering Department, Sharif University of Technology, Tehran, Iran.
ISA Trans. 2012 Jul;51(4):522-30. doi: 10.1016/j.isatra.2012.03.001. Epub 2012 Apr 5.
This paper deals with the average consensus problem in a multi-agent system with switching interaction topology modeled as a weighted digraph. The convergence analysis is performed in both discrete-time and continuous-time dynamics based on the theory of infinite matrix products. Conditions for system convergence to average consensus are derived in the form of constraints on direct and reverse graphs and the structure of adjacency elements among the agents. Furthermore, a sufficient condition is provided for convergence to average consensus in systems in which the interaction topology is balanced over infinite contiguous non-overlapping time intervals instead of being balanced continuously. Numerical simulations are given to demonstrate the effectiveness of the theoretical results.
本文研究了具有切换交互拓扑的多智能体系统的平均一致性问题，该拓扑模型为加权有向图。基于无穷矩阵乘积理论，在离散时间和连续时间动力学中进行了收敛性分析。以直接图和反转图以及智能体之间邻接元素结构的约束形式，推导出了系统收敛到平均一致性的条件。此外，还提供了一个充分条件，用于在交互拓扑在无限连续不重叠时间间隔内而不是连续平衡的系统中收敛到平均一致性。数值模拟验证了理论结果的有效性。
