Research On The Consistency Of Heterogeneous Multi-agent Systems

Distributed cooperative control of multi-agent systems are of great significance in engineering applications,and provide theoretical guidance for intelligent transportation,multi-mobile robot system,tactical formation of military application,etc.As the common problem of realizing cooperative control,consensus problem has attracted extensive attentions.Recently,most of the research results focused on homogeneous systems.However,the agents coupled with each other have different dynamics due to constraints in the practical systems,which motivated the author to study consensus of heterogeneous multi-agent system.The main contents of this paper are summarized as follows:Based on the Lyapunov functional method,consensus of heterogeneous multi-agent system composed of first-order and second-order agents with completely intermittent communication is studied by means of bilinear matrix inequality.Firstly,according to the periodical intermittent neighbors' information,a distributed consensus protocol is designed,and sufficient conditions for its consistency are given.Then the conclusion is extended to the leader-following consensus problem,where the speed of second-order followers are unmeasurable.The speed observer is designed for the system.Consensus problem of heterogeneous multi-agent system with intermittent communication and communication delay is studied,where the communication delays between agents are different.Consider completely periodical intermittent communication and partly periodical intermittent communication respectively.Different distributed consensus protocols are disigned for the system based on the intermittent neighbors' information.Some sufficient conditions and the relationship between time delay and communication duration are obtained to guarantee the consensus of multi-agent systems with the help of Lyapunov functional method.Finally,the paper investigates a leader-following consensus problem for heterogeneous multi-agent system with measurement noises.In order to reduce the influence of noise,a neighbor-based consensus protocol with time-varying gain is proposed.At the same time,the velocity decomposition technique is used to simplify the tracking problem.Then based on graph theory and stochastic tools,some sufficient conditions are derived to ensure the leader-following consensus in mean square.