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Consensus seeking in multi-agent systems via hybrid protocols with impulse delays

机译：通过脉动延迟通过混合协议在多智能体系中寻求共识

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This paper studies the consensus problem of multi-agent systems with both fixed and switching topologies. A hybrid consensus protocol is proposed to take into consideration of continuous-time communications among agents and delayed instant information exchanges on a sequence of discrete times. Based on the proposed algorithms, the multi agent systems with the hybrid consensus protocols are described in the form of impulsive systems or impulsive switching systems. By employing results from matrix theory and algebraic graph theory, some sufficient conditions for the consensus of multi-agent systems with fixed and switching topologies are established, respectively. Our results show that, for small impulse delays, the hybrid consensus protocols can solve the consensus problem if the union of continuous-time and impulsive-time interaction digraphs contains a spanning tree frequently enough. Simulations are provided to demonstrate the effectiveness of the proposed consensus protocols. (C) 2017 Elsevier Ltd. All rights reserved.
机译：本文研究了多种子体系统与固定和切换拓扑的共识问题。提出了一个混合共识议定书，考虑到代理商之间的连续时间通信和一系列离散时间的延迟信息交换。基于所提出的算法，利用混合共识协议的多代理系统以脉冲系统或脉冲切换系统的形式描述。通过采用矩阵理论和代数图理论的结果，分别建立了具有固定和切换拓扑结构的多助理系统共识的一些充分条件。我们的研究结果表明，对于小脉冲延迟，如果连续时间和冲动时间交互的结合含有经常含有生成树的跨度树，混合共识协议可以解决共识问题。提供了模拟以证明拟议的共识协议的有效性。 （c）2017 Elsevier Ltd.保留所有权利。

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