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

摘要：

研究了由一阶、二阶智能体组成的异质多智能体系统群体一致性问题。针对固定通信拓扑结构设计了一种基于边的自适应耦合权重控制协议，根据智能体在移动过程中的相对位置调节不同子群中智能体之间的耦合权重，使得多智能体系统仅依赖智能体的邻居信息即可实现群体一致性。通过构造合适的Lyapunov函数，结合图论知识和Lasalle不变原理对系统稳定性进行推理验证。数值仿真结果表明了理论分析的正确性和可行性。

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