IEEE Trans Cybern. 2017 Feb;47(2):327-338. doi: 10.1109/TCYB.2015.2514119. Epub 2016 Feb 15.
This paper is concerned with sampled-data leader-following consensus of a group of agents with nonlinear characteristic. A distributed consensus protocol with probabilistic sampling in two sampling periods is proposed. First, a general consensus criterion is derived for multiagent systems under a directed graph. A number of results in several special cases without transmittal delays or with the deterministic sampling are obtained. Second, a dimension-reduced condition is obtained for multiagent systems under an undirected graph. It is shown that the leader-following consensus problem with stochastic sampling can be transferred into a master-slave synchronization problem with only one master system and two slave systems. The problem solving is independent of the number of agents, which greatly facilitates its application to large-scale networked agents. Third, the network design issue is further addressed, demonstrating the positive and active roles of the network structure in reaching consensus. Finally, two examples are given to verify the theoretical results.
本文研究了一类具有非线性特性的智能体的采样数据领导者跟随一致性问题。提出了一种在两个采样周期内具有概率采样的分布式一致性协议。首先，在有向图下推导了多智能体系统的一般一致性准则。得到了在没有传输延迟或具有确定性采样时的几个特殊情况下的结果。其次，在无向图下得到了多智能体系统的降维条件。结果表明，具有随机采样的领导者跟随一致性问题可以转化为只有一个主系统和两个从系统的主从同步问题。问题的求解与智能体的数量无关，这极大地方便了其在大规模网络智能体中的应用。第三，进一步解决了网络设计问题，展示了网络结构在达成共识方面的积极作用。最后，给出了两个例子来验证理论结果。
