On Consensus In Networks Of Clusters

The consistency of the multi-agent network system is one of the main dynamic behaviors of complex systems and the fundamental problem of coordination and control of complex systems.With multi-agent network system consistency problem in robot cooperation,unmanned aerial vehicle formation control,electric power network,sensor network and the network traffic in areas such as widely used,it has caused the attention of many scholars in the field of,and became the research focus of scholars and frontier research issue.Consistency refers to in a multi-agent system,with the passage of time,the system between the agents through the coupling effect between each other,eventually make the agent's status gradually tend to the same value.Coordinated control of multi-agent network system of research,not only reveals the objective existence in nature,the inherent law of the biological cluster phenomenon is more important is to let people through the understanding of the inherent law,so as to better understand,understanding and application of complex systems,to better promote the progress of human society.In this paper,on the basis of existing research results,using the algebraic graph theory and matrix theory and linear system theory,control theory and the mature related theory knowledge,respectively discusses the consistency problem of multi-agent systems under mixed mode,mixed mode BA scale-free network synchronization problems and perspective of threshold trigger control the consistency problem of multi-agent system,the main research work is as follows:Frist,in order to solve the problem of consistency of the multi-agent system with leaders,firstly,the virtual leader and entity leader are defined,and the concept of hybrid model leader is proposed.Then,expressed as a directed graph of multi-agent system topology structure,and according to the topological structure of network system,the mathematical model of first-order of quasi-periodic of discrete controller is designed for leaders to reset,through to the leader of the external control to control the overall state of the whole system.Finally,the stability of the system is determined and analyzed with lyapunov stability theorem.Through the theoretical analysis and simulation experiment prove the global balance of the system has the independence,only with the initial state of the system and network topology structure,has nothing to do with the controller reset sequence.Second,it is proposed to apply the above multi-agent system consistency algorithm to the research on the synchronization of BA scale-free network.First,the virtual leader node and entity leader node are defined,and the concept of hybrid model leadership node is proposed.Then,use of said BA scale-free network topology structure,and according to the topology network system of first-order mathematic model,on the basis of quasi-periodic discrete controller was designed to reset of leadership nodes,through the control of the lead node to control the synchronization process of the whole network.Finally,the correctness of the synchronization theory is verified by computer simulation,and the relationship between the synchronization speed of the network and the node degree of the entity is analyzed.Third,the consistency problem of first-order multi-agent system based on event triggering is discussed.With the same content,the multi-agent system in the intelligent body first divided into multiple clusters,each cluster contains a can be controlled by the agent,the agent is known as the leader,and from the form is divided into virtual leader and entity leader,expressed as a directed graph topology more intelligent system.In order to save the cluster internal and external communication overhead,adapt to different engineering application background,in the cluster,based on the internal agent of state information,put forward two different kinds of trigger mechanism,and puts forward two based on the triggering information of multi-agent system based on event trigger consistency control protocol.Finally,the correctness of the theory is verified by computer simulation.