Research On Consensus Theory Of Multi-agent Systems

In recent years, consensus problem of multi-agent systems has received considerable attention for researchers, which from various fields, because of its applications. Consensus theory is an important and fundamental problem for cooperative control of multi-agent systems, and it’s crucial for multi-agents to play its advantages and reflect its performance.In this paper, we study an important problem that consensus of multi-agent systems. The research contents of this problem refer to designing algorithms about information exchange between individuals in multi-agents system, so that all of agents’ states achieve the same value. On the basis of graph theory, matrix theory and stability analysis, this paper consider some factors such as time-delay, finite-time and leader-following consensus, the conclusion can be summarized as follows:This thesis studies the fast consensus-seeking problem in multi-agent systems which are one-order and time-delay. It is inevitable that time-delay between agents in communicate on network. Presenting consensus protocol with time-delay and its theoretical proof is given; To solve the stability and convergence, we convert the system with time-delay to other system, algebraic connectivity and Gershgorin Circle Theorem. Unlike the previous, time-delay will accelerate convergence.This thesis studies finite-time consensus problem for multi-agent systems. In practical application, so many systems demand that they can achieve consistency in the limited time. For example, brake and control systems demand that they can achieve a speed or the body receive at a position in finite-time. This paper is devoted to three kinds of common forms, finite-time consensus problem for system without leader, one-leader, and multi-leader following consensus problem. At the same time, the mass of multi-agents are considered, those distributed algorithms are general form and have wider range of applications. By using the finite-time Lyapunov theory and algebraic graph theory, finite-time consensus problem be solved.