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中文摘要：
研究非线性多智能体系统的一致性问题,由于多智能体要求在网络中所有个体状态趋于一致,所以采用有向图表示的多智能体系统的拓扑结构形式。为了验证一致性,提出一类由自反馈控制器和协调控制器构成的局部控制器,由自反馈控制器保证每个动态节点的稳定性,协调控制器保证网络的全局稳定性和信息的正常交流。根据Lapunov稳定性理论,利用线性化方法,分别采用非线性多智能体系统在固定和切换网络拓扑中进行一致性实验。最后采用6个非线性智能体组成的网络拓扑结构进行计算机仿真,结果验证了理论的正确性。
英文摘要：
This paper discussed consensus problems for nonlinear multi-agent system.First,the digraph（directed graph） was used to represent the topology of multi-agent systems,and then,a local controller consisting of self-feedback controller and cooperative controller was proposed,in which the self-feedback controller guaranteed the stability of each agent and the cooperative controller made global stability and communication of network.Based on the Lyapunov stability theory and linearization,the consensus problems of nonlinear multi-agent with fix or switching topology was investigated.Finally,a simulation example of six nonlinear agents with different states verified the theoretical analysis.
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