Security Group Consensus Of Heterogeneous Multi-agent System Based On Trusted Node Mechanism

Multi-agent consensus control is an important research branch in the distributed cooperative control field.Because of its advantages of strong robustness and high fault tolerance,it has been widely used in many complex systems such as intelligent transportation and flight control.The consensus problem refers to the control protocol that the agents update their status through information interaction with adjacent nodes,which causes all the agents to finally reach the same state.However,with the increasing complexity of the practical application environment,the system can not only be affected by time delay and noise,but also be attacked by external malicious attacks,such as Byzantine attack and stop attack.Therefore,the security consensus problem of multi-agent systems has important research significance and application value.At present,the research on the security consensus of multi-agent systems is mostly based on homogeneous multi-agent systems with single cooperative relationship.Due to the limitation of channel resources,there is also competition between agents.In addition,due to the influence of external environment and other factors,the multi-agent systems can consist of agents with different dynamic behavior.Therefore,the homogeneous system with a single cooperative relationship can not meet the needs of practical applications.Then,most of the traditional security algorithm is to increase the number of nodes to improve the network topology connectivity,which greatly increases the system's control difficulty.Group control reduces the control burden of the system through the division of labor and cooperation among the agents.Inspired by the above problems,this thesis mainly studies the security group consensus problem of heterogeneous multi-agent system based on trust node mechanism.The main research contents of this thesis are as follows:First of all,for heterogeneous multi-agent systems with malicious node attacks,via adding trusted nodes,the robustness of the system is significantly improved,and its ability to resist malicious attacks is enhanced.In addition,compared with the heterogeneous multi-agent system which only includes cooperative interaction,cooperative and competitive relationships among agents are considered.Secondly,based on algebraic graph theory and matrix theory,the algebraic conditions to ensure the group consensus of the system are given.Finally,the simulation results show that the trust-node mechanism can not only enhance the robustness of the system,but also ensure the security group consensus in the case of malicious attackIn order to further verify the validity of the theoretical results in practical engineering application scenarios,the multi-agent collaborative control demonstration system based on trust node mechanism was designed on the basis of Java language.The system adopts the UAV model and achieves group consensus through security group control protocol.In addition,in order to fully reflect the autonomy and collaboration of the multi-agent system,the Any Logic simulation platform was designed to simulate the aircraft obstacle avoidance scenario.