关键词: 多智能体系统, 分群结构, 投影一致性, 智能领导者, 执行器故障

Abstract:

Aiming at projective consensus problem of multi-agent systems under the cluster structure, a new kind of leader is introduced called the smart leader. Compared with traditional leader, where the leader can obtain and utilize its neighboring followers’position information, and whether such information will be used in adjusting the control algorithm for the smart leader is decided by an event-trigger function, thus the robustness and fault tolerance of the system are improved to a great extent. Novel distributed control protocols are designed, then by using matrix theory and Lyapunov stability theory, sufficient conditions are given to achieve the projective consensus of the systems under cluster structure. In addition, based on the Laplace transform property, the system can ensure the tracking error to be bounded when actuator faults occur on some of followers. Finally, numerical simulation verifies the validity of the results.

Key words: multi-agent systems, cluster structure, projective consensus, smart leader, actuator fault