Consensus Analysis Of Mobile Multi-agent System Based On Dynamic Topology

The objective of this paper is to study the consensus problem in the mobile multi-agent system with dynamic topology.In chapter1, the definition of system consensus, related basic knowledge of alge-braic graph theory, and several fundamental lemmas are introduced.In chapter2, we have studied the consensus problem in the mobile multi-agentsystem with a known leader. we design the protocol in this system condition, draw asufficient condition that makes the system reach consensus.In chapter3, we have studied the consensus problem in the mobile multi-agentsystem with an unknown leader. we design the protocol in this system condition, drawa sufficient condition that make the system reach consensus.In chapter4, we have studied the consensus problem in the system with differ-ent input delays. we design the protocol in this system condition, draw a sufficientcondition that promises the system reach consensus.In chapter5, for the first two cases, we supply a simulation that illustrates thedesigned protocol.At last, we draw several conclusions and give some advice on the further study.