| With the fast development of the economy, technological innovation and social progress, together with a bigger size of the control system, there is a requirement of the coordination of each agent in the area of military, industrial and civilian industries. The coordination of multi-agent systems is a very interesting but also a very significance issue. And there has been an extremely wide application in the military, science, commerce, transportation and so on. What’s more, the multi-agent systems have the features of high reliability, stability and expandability. At the same time, with the development of technology and the depth research of theory, the research of coordination control of the multi-agent systems will be faced with new opportunities and challenges. The main contents of this paper are as follows:Firstly, the paper reviews the history, research significance, overseas and domestic research status of the multi-agent systems. What’s more, the related concepts, system architecture, characteristic, the application of coordination control, and the research development of consensus theory are introduced.Secondly, based on the previous research, this paper connects the multi-agent systemss by extra two-hop relay network topology. At the same time, uncertain factor like the random packet losses in the communication network is considered. Then through the mathematical modeling, theory proof and simulation verification, the average consensus of the multi-agent systems is achieved.Thirdly, the average consensus of robotic fish system as a typical engineering research of multi-agent systems is studied. The simulation examples are provided on URWPGSim2D platform, which is from Beijing University. Finally, the simulation accomplished through C++language, loading strategy and repeated debug. So by the proof of theory and practice simulation, we can clearly see the effectiveness and feasibility of the proposed protocols. |
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