The Control Of Consensus For Networked Swarm Agents

Swarm agents are composed of many agents, each agent is a physic or abstract substance and can affect on surroundings or itself as well as exchange information with its neighbors. How to design a coordination control algorithm is an difficulty in the study of swarm agents system. An effective control protocol can improve the system convergence speed and reduce the cost. This thesis researches as follows:Based on swarm agents system with fixed topology, it is supposed that there is no communication delay among swarm agents. There are two cases are thought about that the swarm agents system without leader and with a leader whose movement of it is independent, but the other agents linked to the leader are affected by it. Design corresponding control protocol and transfer the problem of consensus into the problem of stability and prove it.Besides, the problem of time delay is studied in swarm agents system. It is supposed that the system only has a single time delay that is to say the time delay among agents is a fixed value. Actually,in the complex environment, the swarm agents system not only exist time delay,but also the time delay is variable with time changes and the communication topologies switch as time evolves. In order to imitate swarm agents in actual environment better, this thesis study consensus protocol that the delays is changing over time and the topology is dynamic shifts. According to experience, design Lyapunov function and obtain the condition to make the system stable. Simultaneously,simulation results verify the theory.In order to optimize the property of the control protocol, a new cooperative control law is designed based on second-order neighbors’ informations. Because of the convergence speed is related to eigenvalues, the eigenvalues is calculated to prove that the new algorithm has quicker convergence speed compared with common protocol and simulation results testify this theory.Finally,the application of swarm agents in time synchronization is studied. Design control protocol and verificate it.