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首页> 外文期刊>International Journal of Control >Nonlinear finite-time bipartite consensus protocol for multi-agent systems associated with signed graphs
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Nonlinear finite-time bipartite consensus protocol for multi-agent systems associated with signed graphs

机译：与签名图关联的多智能体系统的非线性有限时间双向共识协议

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摘要

In this paper, finite-time multi-agent consensus problems are considered under networks associated with signed graphs whose edge weights can be not only positive but also negative. A nonlinear consensus protocol is proposed to guarantee the states of all agents to converge in a finite time. If the signed graph is structurally balanced, then the final consensus states of all agents are the same in modulus but not in sign. Otherwise, if the signed graph is structurally unbalanced, then the states of all agents converge to zero. Moreover, the final consensus states of agents can be provided uniformly regarding a signed-average quantity that depends on both the initial states of agents and the topology structure of the whole multi-agent network. Numerical simulations illustrate that the protocol is effective in achieving the finite-time consensus of agents under signed graphs and can particularly solve the finite-time average consensus problem of agents when their associated graph has all positive edge weights.
机译：在本文中，考虑了与带符号图相关联的网络下的有限时间多智能体共识问题，该图的边缘权重不仅可以为正，而且可以为负。提出了一种非线性共识协议，以保证所有主体的状态在有限时间内收敛。如果带符号的图在结构上是平衡的，则所有代理的最终共识状态的模数相同，但无符号。否则，如果签名图在结构上不平衡，则所有代理的状态都收敛为零。而且，关于有符号平均数量，可以均匀地提供代理的最终共识状态，该平均数量取决于代理的初始状态和整个多代理网络的拓扑结构。数值仿真表明，该协议有效地实现了有符号图下智能体的有限时间共识，特别是在关联图具有所有正边权重的情况下，可以解决智能体的有限时间平均共识问题。

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