Research On Consensus Problem Of Multi-agent Systems

The multi-agent system(MAS)is a complex system that composed of a large number of autonomous or semi-autonomous subsystems.Due to the method based on multi-agent system with autonomy,adaptability,robustness,it has a good performance for those that structure and definition not clear.Therefore,the multi-agent system has developed into a new and complex system science.And it has become a tool for studying complex science and complex system.The consensus of multi-agent system is the basis of multi-agent collaborative control,which has become a current research hotspot and frontier problem.The thesis mainly research the consensus of the multi-agent system.The main works include the following aspects: 1.The related theories of multi-agent system graph theory are studied.First-order multi-agent system consensus algorithm and continuous-time second-order multi-agent consensus algorithm are analyzed and simulated in different topological structures.Discrete high-order consistency algorithm was briefly analyzed.2.Based on the Cucker-Smale flock formation algorithm,an improved variable coefficient flock formation algorithm is proposed.Simulations are performed in 2-dimention and 3-dimention.Compared with Cucker-Smale flock formation algorithm,it is verified that the improved flock formation algorithm can significantly speed up the convergence.3.Based on Radenkovic's self-adaptive consensus algorithm,an improved self-tuning consensus algorithm based on least mean square algorithm for variable step multi agent systems is proposed.The convergence of the algorithm is proved.The new algorithm is simulated under different topologies.Compared with Radenkovic's adaptive consensus algorithm,the improved algorithm can accelerate the speed of multi-agent convergence.The improved adaptive consensus algorithm is simulated in the switching topology.For undirected graphs,the state variables of the multi-agent system will converge to be consistent when the undirected graph is a connected graph.Switching the topology to the non-connected graph,the state variables of the consensus multi-agent system will no longer diverge.When the undirected graph is a non-connected graph,the state variables of the multi-agent system will not reach consensus.Switching the topology of the undirected graph is a connected graph.The state variables of multi agent system will converge to the same value.4.The phase synchronization problem of coupled oscillators is an application of the consensus problem.Based on Radenkovic's adaptive phase consensus algorithm for coupled oscillators,an time-varying coefficient adaptive consensus algorithm for coupling oscillators is proposed.The simulations shows that this algorithm can speed up the convergence.