Consensus Of Neutral Multi-agent Systems

Consensus of multi-agent systems is a new research issuse in recent years, which iswidely used in many fields including flocking, formation control of satellite cluster,unmanned aerial vehicles, mobile robots, autonomous underwater vehicles, automatedhighway systems, etc. Consensus problem has attracted researchers from mathematics, control,information and other disciplines because of its wide range of applications. There are a largeamout of results on consensus of multi-agent sustems so far. Consensus in dynanical networkswith first-order integrator agents has been widely studied, so as the dynanical networks withsecond-order and different order integrators agents. If the agent’s dynamical equation takesthe neutral form, what about the consensus of multiple agents in networks? To the best of ourknowledge, there is not any research for the consensus problem of neutral multi-agent systemsby now.Consensus in networks of neutral dynamical agents is studied in this paper. It containsaverage consensus of multi-agent systems with undirected fixed topology, average consensusin networks of agents with undirected switching topology, consensus of multi-agent systemswith directed switching topology. Some new consensus results have been given in this paper.In chapter one, the background, history of development and research status of consensusof multi-agent systems are introduced. Current situation and research significance are alsopresented in this section. The main work of this paper is given in the last.In chapter two, average consensus problems in undirected fixed networks of two types ofneutral multi-agent systems are considered. By decoupling the neutral multi-agent system interms of the eigenvalues of the Laplacian matrix, necessary and sufficient conditions foraverage consensus are established. For the particular case of constant delay, a least upperbound of the time delay is estimated.In chapter three, average consensus problems of two kinds of neutral multi-agent systemswith undirected swtching topology are discussed. By the reduced-order transformation, theaverage consensus problems of the neutral multi-agent systems are simplified to theasymptotic stability of the zero solution of reduced-order systems. Some sufficient conditions for average consensus of the neutral multi-agent systems are proved by employing a linearmatrix inequality method.In chapter four, consensus of neutral multi-agent systems with directed switchingtopology is investigated. By the tree type reduced-order transformation, the consensusproblem is simplified to the asymptotic stability of the zero solution. By using a linearmatrix inequality method, some sufficient conditions for consensus of the neutral multi-agentsystems are established.Summary and outlook are given in chapter five. First, we summarize the major work andinnovation points of this paper. Second, we forecast some future research work based on thispaper.