摘要
针对受损多智能体系统的信息一致性问题,基于代数图论提出了联合r连通概念,给出了当系统中的部分成员受损或离开后不能继续原有工作时,其余成员仍可实现一致性的充要条件.研究结果表明,在此条件下系统可失去成员的数量取决于系统的通信能力.仿真实例验证了理论分析结果的正确性和有效性.
In this paper, a theoretical framework for information consensus problem was presented for damaged multi-agent networked systems with an emphasis on the dynamically changing topology. Based on the algebraic graph theory, a new concept of jointly γ-connected for digraph was proposed, and a sufficient and necessary condition for the consensus problem was estab- lished when some members of the system were damaged or left the system for other missions. It was shown that the number of the members which can be lost depends on the communication ability of the system. Finally, simulation results were used to demonstrate the effectiveness and correctness of the theoretical work.
出处
《自动化学报》
EI
CSCD
北大核心
2012年第11期1880-1884,共5页
Acta Automatica Sinica
基金
国家自然科学基金(60875071)
教育部博士点基金(200806990008)资助~~
关键词
受损系统
多智能体
一致性
时变拓扑
联合r连通
Damaged system, multi-agent, consensus, switch-ing topology, jointly γ-connected
