关键词: 异质多智能体系统, 群一致性, 自适应控制, 时变耦合权重, Lyapunov函数, Lasalle不变原理

Abstract:

This paper investigates the group consensus problem of heterogeneous Multi-agent System（MAS） which is composed of the first and second order agents. An adaptive coupling weight control protocol based on edge is designed for fixed communication topology. According to the relative position of agents in the moving process, the coupling weight among agents in different subgroups is adjusted which makes the multi-agent system achieve group consensus only depending on the neighbor information of the agent. By constructing the appropriate Lyapunov function, the stability of the system is proved by combining graph theory and Lasalle invariance principle. The numerical simulation results are presented to illustrate the correctness and feasibility of the theoretical analysis.

Key words: heterogeneous multi-agent systems, group consensus, adaptive control, time-varying coupling weights, Lyapunov theory, Lasalle invariance principle