Shi Lei, Xiao Yue, Shao Jinliang, Zheng Wei Xing
IEEE Trans Cybern. 2020 Jun;50(6):2546-2556. doi: 10.1109/TCYB.2019.2915941. Epub 2019 May 27.
In this contribution, we propose and investigate the containment control issue for general linear multiagent systems (MASs) under the asynchronous setting, where the network topology is not subjected to any structural restrictions and the roles of the leaders and the followers are entirely determined by the network topology. It is assumed that the interaction time instants of each agent, at which this agent interacts with its neighbors, are independent of the other agents' and can be unevenly distributed. An asynchronous distributed algorithm is proposed to implement the control strategy of linear MASs. The non-negative matrix theory and the composition of binary relations are utilized to handle the asynchronous containment control issue. It is shown that the leaders in each closed and strongly connected component of the network topology will reach a common state and the followers will gradually enter the dynamic convex hull constructed by the leaders. Moreover, it is also proved that the system matrix can be strictly unstable, and the upper bound of the system matrix's spectral radius is explicitly stated. Finally, two simulation examples are also provided to verify the efficacy of our theoretical results.
在本论文中，我们提出并研究了异步环境下一般线性多智能体系统（MASs）的包容控制问题，其中网络拓扑不受任何结构限制，领导者和跟随者的角色完全由网络拓扑决定。假设每个智能体与邻居交互的时间瞬间是相互独立的，且分布不均匀。提出了一种异步分布式算法来实现线性MASs的控制策略。利用非负矩阵理论和二元关系的合成来处理异步包容控制问题。结果表明，网络拓扑中每个封闭且强连通分量中的领导者将达到一个共同状态，跟随者将逐渐进入由领导者构建的动态凸包。此外，还证明了系统矩阵可以是严格不稳定的，并明确给出了系统矩阵谱半径的上界。最后，提供了两个仿真例子来验证我们理论结果的有效性。
