| In recent years, with the fast development of distributed networks and multiagent systems, the cooperative and coordinated control has been a hot area of research. As the basis of the cooperative control of multi-agents, consensus problem attracts much attention from many di?erent ?elds. This dissertation studies the consensus problem of multi-agent networks. In many applications involving multiagent / multi-vehicle systems, groups of agents need to agree upon certain quantities of interest. Such quantities might or might not be related to the motion of the individual agents. As a result, it is important to address agreement problems in their general form for networks of dynamic agents with directed information ?ow under link failure and creation. Consensus problems have a long history in the ?eld of computer science, particularly in automata theory and distributed computation. To achieve a consensus, intelligent between body need to undertake local information exchange. It need to exchange the information between neighboring agents. Usually,the actual multi-agent systems are often in the complex network environments, such as the system or the agent may be attacked by the external disturbance, the connection may be broken and so on. Correspondingly, there are communication delay and measurement noises in the information transmission. Based on the existing research results, this paper studies the consensus problems of the multi-agent systems with the complex dynamic network much more thoroughly and systematically by using the control theory, stability theory, algebra graph theory, hybrid system theory and the homogeneity with dilation. The main contents of this dissertation are given in the following.1. The background, research signi?cance and current situation of the selected topic are reviewed. Then, we indicate the signi?cance, di?culties and innovations of the dissertation.2. Some de?nitions, symbols and lemmas which will be used in this paper are introduced exhaustively.3. For a multi-agent system, the ?rst-order consensus and the second-order on multi-agent systems with multiple leaders are investigated in section 3 and section 4,respectively. By using tools from the algebraic graph theory, M-matrix theory and control theory, some consensus criteria are established for reaching leader-following control on multi-agent systems with multiple leaders. |
