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Consensus of Multiagent Systems With Distance-Dependent Communication Networks

机译：具有距离相关通信网络的多主体系统的共识

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摘要

In this paper, we study the consensus problem of discrete-time and continuous-time multiagent systems with distance-dependent communication networks, respectively. The communication weight between any two agents is assumed to be a nonincreasing function of their distance. First, we consider the networks with fixed connectivity. In this case, the interaction between adjacent agents always exists but the influence could possibly become negligible if the distance is long enough. We show that consensus can be reached under arbitrary initial states if the decay rate of the communication weight is less than a given bound. Second, we study the networks with distance-dependent connectivity. It is assumed that any two agents interact with each other if and only if their distance does not exceed a fixed range. With the validity of some conditions related to the property of the initial communication graph, we prove that consensus can be achieved asymptotically. Third, we present some applications of the main results to opinion consensus problems and formation control problems. Finally, several simulation examples are presented to illustrate the effectiveness of the theoretical findings.
机译：在本文中，我们分别研究了具有依赖于距离的通信网络的离散时间和连续时间多主体系统的共识问题。假定任意两个代理之间的通信权重是其距离的不变函数。首先，我们考虑具有固定连接性的网络。在这种情况下，相邻代理之间始终存在交互，但是如果距离足够长，则影响可能会忽略不计。我们表明，如果通信权重的衰减率小于给定范围，则可以在任意初始状态下达成共识。其次，我们研究与距离相关的连接性的网络。假定任何两个主体在且仅当它们的距离不超过固定范围时才相互交互。利用与初始通讯图的性质有关的某些条件的有效性，我们证明了可以渐近地达成共识。第三，我们提出了主要结果在意见共识问题和地层控制问题上的一些应用。最后，给出了几个仿真示例以说明理论发现的有效性。

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