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首页> 外文期刊>International journal of system control and information processing >Formation of heterogeneous multi-agent systems under min-weighted persistent graph
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Formation of heterogeneous multi-agent systems under min-weighted persistent graph

机译：在最小加权持久性图下形成异质多剂体系

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摘要

In this paper, we develop a simple and efficient formation control framework for heterogeneous multi-agent systems under min-weighted persistent graph. As the ability of each agent may be different, the architecture of agents is considered to be heterogeneous. To reduce the communication complexity of keeping connectivity for agents, a topology optimisation scheme is proposed, which is based on min-weighted persistent graph. According to the topology of agents, a directed acyclic graph (DAG) is constructed to reflect the signal flow relation of agents, and then the corresponding formation control protocol is designed by using the transfer function model. Apply the proposed method, it is shown that the communication complexity of multi-agent systems is decreased, and the connection safety is improved. Based on signal flow graph analysis and Mason's rule, the convergence conditions are provided to show the agents can keep a formation. Finally, several simulations are worked out to illustrate the effectiveness of our theoretical results.
机译：在本文中，我们在最小加权持久性图下开发了一种简单有效的多替代性多智能体系的控制框架。随着每个试剂的能力可能不同，当代理的结构被认为是异质的。为了减少保持代理连接的通信复杂性，提出了一种基于MIN加权持久性图的拓扑优化方案。根据代理的拓扑结构，构造定向的非循环图（DAG）以反映代理的信号流动关系，然后通过使用传递函数模型设计相应的形成控制协议。应用所提出的方法，示出了多种子体系统的通信复杂性降低，并且改善了连接安全性。基于信号流图分析和梅森的规则，提供了收敛条件以显示代理可以保持形成。最后，解决了几种模拟，以说明我们理论结果的有效性。

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