Group Consensus And Application Of Heterogeneous Multi-agent Systems

In recent years,the consensus problem of multi-agent systems has become a hot topic in many fields,such as physics,application of math,computer science and control theory and so on.In practical application,the dynamics of each agent may be different due to the external influence or restriction of information transfer,and group consensus is very common,so the research on group consensus of heterogeneous multi-agent systems has very important practical significance.In this.paper,we introduce two clustering coefficients make heterogeneous multi-agent into two groups.The main contents and innovations of this paper are as follows:1.Combining with two clustering coefficients,we design a control input for heterogeneous continuous multi-agent systems.Under the fixed undirected topology,by constructing a reasonable Lyapunov function,we prove that the system can achieve group consensus.Under the fixed directed topology,we let the feedback coefficient satisfies certain conditions,the system is transformed by equations in matrix form,we prove that the system can achieve group consensus if and only if the topology contains a directed spanning tree through the analysis of the matrix,and then get the consensus state.Under the switching directed topologies,through analyzing random matrices,we get when the feedback coefficient and period satisfy certain conditions,if there are continuous and non overlapping infinite time interval sequences,and the combined figure of the switching topologies in every time interval sequence contains a directed spanning tree and the feedback coefficient satisfies certain conditions,the system can reach the group consensus.2.In the part,we research the group consensus of heterogeneous discrete multi-agent systems.Under the fixed undirected topology,by constructing a reasonable Lyapunov function,we get when there is a positive definite matrix and satisfy certain conditions,the system can achieve the group consensus.Under the fixed directed topology,we get when the topology contains a directed spanning tree,the system can achieve the group consensus through the analysis of the random matrix obtained from the model.Under the switching directed topologies,through analyzing random matrices,we prove when the feedback coefficient and period satisfy certain conditions,if there are continuous and non overlapping infinite time interval sequences,and the combined figure of the switching topologies in every time interval sequence contains a directed spanning tree and the feedback coefficient satisfies certain conditions,the system can reach the group consensus.3.We study the group consensus of heterogeneous continuous multi-agent systems with periodically intermittent control under fixed undirected topology.In the control input on the basis of the continuous system,some of the agents were applied to a intermittent control,by constructing a Lyapunov function reasonably,we get when s?0,the system can reach the group consensus.