Wang Yi, Song Haiyu, Chen Guoyuan, Ma Zhongjun, Cao Jinde
IEEE Trans Cybern. 2023 May;53(5):2852-2863. doi: 10.1109/TCYB.2021.3120847. Epub 2023 Apr 21.
The consensus tracking problem means that a group of followers tracks the desired trajectory with local communication. In this article, partial components of cluster consensus have been considered. In this scenario, the p components of the followers in different clusters track the leader at different lag times, while p components of each agent in the same cluster reach a consensus, which is called p components of cluster-lag (PCCL) consensus. By using a seminorm ||x|| and a Lyapunov-Krasovskii functional, PCCL consensus for second-order multiagent systems with homogeneous nonlinear systems on cooperative-competitive networks has been considered. For the case that the communication network graph is undirected, a decentralized adaptive controller, which is based on the exchanged neighbors' information from the same cluster, is designed such that all the agents reach PCCL consensus. For the directed graph case, an adaptive protocol based on the intracoupling strength is constructed for each cluster to achieve PCCL consensus. Finally, two simulation examples are illustrated to show the effectiveness of the proposed control protocols.
一致性跟踪问题意味着一组跟随者通过局部通信跟踪期望轨迹。在本文中，考虑了簇一致性的部分组件。在这种情况下，不同簇中的跟随者的(p)个组件在不同的滞后时间跟踪领导者，而同一簇中每个智能体的(p)个组件达成一致，这被称为簇滞后（PCCL）一致性的(p)个组件。通过使用半范数(\vert\vert x\vert\vert)和李雅普诺夫 - 克拉索夫斯基泛函，研究了具有齐次非线性系统的二阶多智能体系统在合作 - 竞争网络上的PCCL一致性。对于通信网络图为无向图的情况，设计了一种基于同一簇中交换的邻居信息的分散自适应控制器，使得所有智能体达成PCCL一致性。对于有向图情况，为每个簇构建了一种基于内部耦合强度的自适应协议以实现PCCL一致性。最后，给出了两个仿真例子来说明所提出控制协议的有效性。
