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Robust consensus for multi-agent systems over unbalanced directed networks

ISSN号：1009-6124
期刊名称：Journal of Systems Science and Complexity
时间：2014
页码：1121-1137
分类：TP18[自动化与计算机技术—控制科学与工程;自动化与计算机技术—控制理论与控制工程] TP393[自动化与计算机技术—计算机应用技术;自动化与计算机技术—计算机科学与技术]
作者机构：[1]School of Science, Anhui University of Science and Technology, Huainan 232001, China., [2]Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China
相关基金：This research was supported by the Natural Science Foundation of China under Grant Nos. 61073101, 61073102, 61170172, 61272153, and 61374176, the Science Fund for Creative Research Groups of the National Natural Science Foundation of China under Grant No. 61221003, and Anhui Provincial Natural Science Foundation under Grant No. 090412251.
相关项目：控制理论与方法—网络系统的设计、控制与优化

关键词：多代理系统, 网络拓扑, 不平衡, LYAPUNOV函数, OVER, 李雅普诺夫函数, 稳健, 初始状态, Consensus, directed network, distributed algorithm, stochastic approximation.

中文摘要：

在这份报纸，一个分布式的一致协议在一般固定指导拓扑学下面与测量噪音为分离时间的单个整数的多代理人系统被建议。变化时间的控制获得令人满意随机的近似条件被介绍稀释噪音，这样靠近环的多代理人系统是内在地一个线性变化时间的随机的差别系统。然后，吝啬的方形的一致集中分析基于 Lyapunov 技术被开发，并且 Lyapunov 函数的构造特别不要求为二次的 Lyapunov 功能的存在假定的典型平衡网络拓扑学条件。因此，建议一致协议能对更一般的联网的多代理人系统适用，特别地当在代理人之间的双向或平衡的信息交换没被要求时。在建议协议下面，每个代理人的状态在吝啬的平方收敛到其数学期望是起始的状态珍视的代理人的加权的一般水准的一个普通随机的变量，这被证明；同时，随机的变量变化被围住。

英文摘要：

In this paper, a distributed consensus protocol is proposed for discrete-time single-integer multi-agent systems with measurement noises under general fixed directed topologies, The time-varying control gains satisfying the stochastic approximation conditions are introduced to attenuate noises, thus the closed-loop multi-agent system is intrinsically a linear time-varying stochastic difference system. Then the mean square consensus convergence analysis is developed based on the Lyapunov technique, and the construction of the Lyapunov function especially does not require the typical balanced network topology condition assumed for the existence of quadratic Lyapunov function. Thus, the proposed consensus protocol can be applicable to more general networked multi-agent systems, particularly when the bidirectional and/or balanced information exchanges between agents are not required. Under the proposed protocol, it is proved that the state of each agent converges in mean square to a common random variable whose mathematical expectation is the weighted average of agents＇ initial state values; meanwhile, the random variable＇s variance is bounded.