Consensus Of Heterogeneous Multi-agent Systems

In recent years, consensus of multi-agent systems receives many researchers’ attention, due to its broad applications in design of sensor networks, unmanned aerial vehicles, communication, automated highway systems, biology, and so on. In cooperative control of multi-agent systems, a critical problem is to design appropriate protocols such that multiple agents in a group can reach consensus. Up to now, consensus seeking has been analyzed mainly for first-order multi-agent systems, second-order multi-agent systems and high-order multi-agent systems, respectively. However, in practice, we need heterogeneous multi-agent systems to solve some problem, but there are very few results on the heterogeneous multi-agent systems, therefore, we investigate consensus problem of heterogeneous multi-agent systems in this paper.In this paper, consensus and H_∞ consensus problems for heterogeneous multi-agent systems composed of both first-order and second-order integrator agents, and the single integrator multi-agent system with heterogeneous delays are studied. The main results and contribution of this paper include:In chapter one, we briefly describe the background, research of development and research status of consensus of multi-agent systems. The current situation and research significance of heterogeneous multi-agent systems are also introduced in this chapter. And the main work of this paper is given in the last.In chapter two, we study the consensus problems for heterogeneous multi-agent systems composed of both first-order and second-order integrator agents in continuous time. We simplify the complex consensus problem to stability problem by using the reduce-order transformation. Using linear matrix inequality method, sufficient conditions for systems with time-varying delays achieve consensus and H_∞ consensus are established in both fixed and switching topologies, respectively.In chapter three, we discuss the consensus problems for heterogeneous multi-agent systems composed of both first-order and second-order integrator agents in discrete time. First, we simplify the consensus problem is to the asymptotic stability of the zero solution by using the tree-type transformation, and we get the sufficient conditions for systems achieve consensus and H_∞ consensus by using linear matrix inequality method. Then, we transform the reduced-order systems to switch systems, and establish sufficient conditions for systems solve consensus problem by using switching Lyapunov functional.In chapter four, we investigate consensus problems of the single integrator multi-agent system with heterogeneous delays in directed networks. To overcome the difficulty caused by heterogeneous time-varying delays, we rewrite the multi-agent system into a partially-reduced-order system and an integral system. A particular Lyapunov function is constructed to derive sufficient conditions for consensus and H_∞ consensus of multi-agent systems with fixed topologies. We also extend the results to switching topologies, and obtain some results about consensus.In chapter five, we give the summary and outlook. The major work and innovation points of this paper are briefly summarized. And we forecast some future research work based on this paper.