Consistency And Controllability Of Multiple Body Systems

The controllability and consensus of multi-agent systems is a hot research in the field of control.In this paper,we study the consensus convergence rate problems of multi-agent systems based on different neighbor protocols and the problems of controllability and observability under time-varying topology.This article has the following main research contents:In this paper,the basic knowledge of algebraic graph theory,common topological structure,adjacency matrix,Laplacian matrix and structure controllability are discussed.The first-order,and second-order consensus protocol,Leader-follower model,edge-dynnamic model are also described and defined in detail.The convergence rate of the system under different consensus protocols is researched.The optimal consensus protocols from different topologies are studied.The controllability of the multi-agent system with time-varying topology under the Leader-follower model is analyzed.The conclusions are proved and simulated,in addition,the corresponding conclusions of the edge-dynamic model also are proved.Finally,the machine learning algorithm is used to classify the agents and select the individuals that meet the requirements from systems.