Consensus Analysis Of Networked Multi-agent System

Convergence speed is a significant index of consensus protocol. It plays an important rolefor the performance of a dynamical system. This thesis proposes modified consensus protocols tosolve the consensus problem of second-order and high-order multi-agent systems(MAS).Furthermore, this thesis builds a multiple mobile robot experiment platform, which is based onArduino.Aimed at the convergence speed of a consensus protocol, and inspired of the multi-hopnetwork, multi-hop paths are brought in multi-agent system to transmit information, thus, itmakes the multi-agent system can reach consensus, and modified the convergence speed. Thischapter also gives the necessary and sufficient conditions of the modified consensus protocol.And algebraic graph theory is also used to illustrate the effectiveness of the proposed protocol.Finally, the convergence speeds of different protocols are compared by numerical simulation thatillustrates the protocol in this paper reaches consensus faster.Go from the easy to the difficult and complicated, multi-hop paths are brought in high-ordermulti-agent system in this chapter. At the same time, the unmeasurable of the state is considered,state observer is designed to solve this problem. A modified consensus protocol is proposed forthe high-order multi-agent system by combining the multi-hop network and state observer. Thischapter also gives the necessary and sufficient conditions of the modified consensus protocol,and illustrates the effectiveness of the proposed protocol. The protocols which proposed in thisthesis, are based on balanced graph. In this chapter, the high-order protocol is extended todigraph topology by simulations, and the effectiveness of the protocol is also remained.All the conclusion are simulated on the multiple mobile robot experiment platform. Thisthesis introduces the each part of the multi mobile robot, and gives the connection diagram toArduino board in chapter5. In the end, we put all the devices together, and form the multiplemobile robot experiment platform. We design the software to control each part of the multiplemobile robot, and make it work as a whole. And the effectiveness of the protocols whichproposed in this thesis are verified on the multiple mobile robot experiment platform.