领导-跟随多智能体系统中的集合一致性

doi:10.16088/j.issn.1001-6600.2024100101

广西师范大学学报（自然科学版） ›› 2025, Vol. 43 ›› Issue (4): 140-146.doi: 10.16088/j.issn.1001-6600.2024100101

领导-跟随多智能体系统中的集合一致性

苏忠蔚, 甘晓亮^*, 马忠军

桂林电子科技大学数学与计算科学学院, 广西桂林 541004

收稿日期:2024-10-01 修回日期:2024-11-07 出版日期:2025-07-05 发布日期:2025-07-14
通讯作者: 甘晓亮(1987—),男,河南叶县人,桂林电子科技大学讲师,博士。E-mail: ganxiaoliang@guet.edu.cn
基金资助:
国家自然科学基金(62466011);广西自然科学基金(2023GXNSFBA026141);广西科技计划项目(桂科AD23023002)

Set Consensus of Leader-Following Multi-agent System

SU Zhongwei, GAN Xiaoliang^*, MA Zhongjun

School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin Guangxi 541004, China

Received:2024-10-01 Revised:2024-11-07 Online:2025-07-05 Published:2025-07-14

摘要/Abstract

摘要： 针对领导智能体和跟随智能体可能发生碰撞情况,结合实用一致性和恒同一致性特点,本文提出并研究领导-跟随多智能体系统的集合一致性。首先,选取不含零的有界集合,给出集合一致性概念;然后,设计合适的分段牵引控制协议,建立误差系统,将多智能体系统的集合一致性问题转化为误差系统的集合稳定性问题,得到加权有向网络拓扑结构下多智能体系统达到集合一致的充分条件;最后,数值模拟验证理论结果的正确性。

关键词: 多智能体系统, 集合一致性, 集合稳定性, 领导-跟随

Abstract: In view of the possible collision between the leader agent and the follower agents, combined with the characteristics of practical consensus and identical consensus, the set consensus of the leader-following multi-agent system is proposed and studied in this paper. Firstly, a bounded set without zero is selected and the concept of set consensus is given. Then, by designing an appropriate segmented pinning control protocol and establishing an error system, the set consensus problem of the multi-agent system is transformed into a set stability problem of the error system, and a sufficient condition for the multi-agent system to achieve the set consensus under the weighted directed network topology is obtained. Finally, the numerical simulation verifies the correctness of the theoretical results.

Key words: multi-agent system, set consensus, stability of set, leader-following

中图分类号: O231

苏忠蔚, 甘晓亮, 马忠军. 领导-跟随多智能体系统中的集合一致性[J]. 广西师范大学学报（自然科学版）, 2025, 43(4): 140-146.

SU Zhongwei, GAN Xiaoliang, MA Zhongjun. Set Consensus of Leader-Following Multi-agent System[J]. Journal of Guangxi Normal University(Natural Science Edition), 2025, 43(4): 140-146.

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领导-跟随多智能体系统中的集合一致性

Set Consensus of Leader-Following Multi-agent System

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