Secure Consensus Algorithm Design For Multi-agent Systems And Its Application

Multi-agent system is one of the hot spots in today's research and has been widely used in many fields.Consensus problem is not only the basis and core content of multiagent system,but also a way to solve coordination control.However,in the process of application,actually multi-agent system is in a complex network environment.Agents will inevitably be affected by some malicious attacks outside.Therefore,a fast and effective secure consensus algorithm is proposed for the system under malicious attacks,and it is applied to the formation of multi-robot system.The details are as follows:1.In this thesis,the multi-agent system under malicious attacks is studied.A fast and effective secure consensus algorithm is proposed.In each status update process,normal agents select the median state value in an arranged value sequence collected at the same time from their neighbor agents.The computation complexity is reduced.The strong network connectivity and vast resource needed for information storage of traditional algorithm are also reduced.The proposed algorithm makes the whole system much simple,flexible,cheap.By using iterative learning and convex hull conditions,we create a virtual network topology with the same connectivity condition as the original system directed graph.Under the condition that the system satisfies certain network topology,it ultimately makes the system achieve safety and consistency.Simulation results verify the effectiveness of the proposed algorithm.2.Based on secure consensus algorithm,the multi-robot formation control strategy is proposed and simulated on the Pioneer 3-DX robot simulation platform,the Mobile Sim and ARIA robot simulation software.The experimental results verify the effectiveness of the control strategy.