Study On Output Consensus Of Heterogeneous Multi-Agent Systems

The primary research work of multi-agent systems(MASs)is that the interaction of the network topology and multi-agents has an influence on the whole system.Thus,it can solve the insoluble or inefficient problem of the single agent which has the lack of ability,knowledge and resources.The consensus implies to design protocols such that the group of agents can agree on certain quantities of interest based on the local information and is the basics for the distributed coordination and cooperative control of multi--agent systems.Therefore,it is vital to study the consensus of MASs.Due to the different structure of each agent in MASs and the restrictions of economic costs or measurement conditions in the actual project,it is very rare and even impossible to get the states of all the agents.Therefore,under the circumstances that states of all agents are not available but their outputs can be measured,the output consensus of heterogeneous MASs is investigated in this paper,where dimensions of the states and control inputs can be different for the dynamics systems except for the dimension of measured outputs.First of all,we present the research background of consensus for MASs and the development of this subject on the domestic and foreign,and introduce the basic knowledge which is relevant with the topic and provides a theoretical basis,such as math notations,matrix theory,graph theory and consensus theory and so on.Additionally,the problem of output consensus is investigated for discrete-time heterogeneous MASs with no communication delay in this paper.The protocol with dynamic output feedback is designed,and the sufficient conditions are obtained to achieve output consensus of MASs.Numerical examples illustrate the feasibility and effectiveness of the proposed method.Because of the limited bandwidth of communication channels and the finite transmission speed,communication delay is something that the system can not avoid,and yet time delay can degrade the control performance greatly or even destabilize the system.Finally,in order to weaken and eliminate the negative effect of communication delay on consensus,we put forward the networked predictive control scheme to compensate delays actively.Further,we consider output consensus of discrete-time heterogeneous MASs with constant communication delays and design the distributed consensus protocol with dynamic output feedback controller.For fixed and directed topology,the sufficient conditions of the output consensus are obtained and shows the close relationship between the agents and the network topology.The theoretical results are illustrated by numerical simulations.It is worthy of mentioning that the proposed method can be also applied to MASs with the bounded and time-varying communication delays.