Center for Complex Systems, School of Mechano-Electronic Engineering, Xidian University, Xi'an, China.
Center for Systems and Control, College of Engineering, Peking University, Beijing, China.
IEEE Trans Neural Netw Learn Syst. 2017 Nov;28(11):2712-2726. doi: 10.1109/TNNLS.2016.2598355.
In this paper, we study the consensus problem of discrete-time and continuous-time multiagent systems with distance-dependent communication networks, respectively. The communication weight between any two agents is assumed to be a nonincreasing function of their distance. First, we consider the networks with fixed connectivity. In this case, the interaction between adjacent agents always exists but the influence could possibly become negligible if the distance is long enough. We show that consensus can be reached under arbitrary initial states if the decay rate of the communication weight is less than a given bound. Second, we study the networks with distance-dependent connectivity. It is assumed that any two agents interact with each other if and only if their distance does not exceed a fixed range. With the validity of some conditions related to the property of the initial communication graph, we prove that consensus can be achieved asymptotically. Third, we present some applications of the main results to opinion consensus problems and formation control problems. Finally, several simulation examples are presented to illustrate the effectiveness of the theoretical findings.In this paper, we study the consensus problem of discrete-time and continuous-time multiagent systems with distance-dependent communication networks, respectively. The communication weight between any two agents is assumed to be a nonincreasing function of their distance. First, we consider the networks with fixed connectivity. In this case, the interaction between adjacent agents always exists but the influence could possibly become negligible if the distance is long enough. We show that consensus can be reached under arbitrary initial states if the decay rate of the communication weight is less than a given bound. Second, we study the networks with distance-dependent connectivity. It is assumed that any two agents interact with each other if and only if their distance does not exceed a fixed range. With the validity of some conditions related to the property of the initial communication graph, we prove that consensus can be achieved asymptotically. Third, we present some applications of the main results to opinion consensus problems and formation control problems. Finally, several simulation examples are presented to illustrate the effectiveness of the theoretical findings.
本文分别研究了具有距离相关通信网络的离散时间和连续时间多智能体系统的一致性问题。假设任意两个智能体之间的通信权重是它们距离的非增函数。首先，我们考虑具有固定连接的网络。在这种情况下，如果距离足够长，相邻智能体之间的相互作用总是存在的，但影响可能变得可以忽略不计。我们表明，如果通信权重的衰减率小于给定的界，则可以在任意初始状态下达到一致性。其次，我们研究了具有距离相关连接的网络。假设只有当两个智能体之间的距离不超过固定范围时，它们才相互作用。利用与初始通信图性质相关的一些条件的有效性，我们证明了可以渐近地达到一致性。第三，我们将主要结果应用于意见一致问题和编队控制问题。最后，给出了几个仿真例子来说明理论结果的有效性。
