论文标题
二阶共识的协议选择
Protocol selection for second-order consensus against disturbance
论文作者
论文摘要
注意到绝对速度方案和相对速度方案都可以解决多代理系统的二阶共识，本文旨在研究以上两个方案中的哪个具有更好的抗扰动能力，其中抗扰动能力是由L2获得从干扰到共识误差的L2增益来衡量的。更具体地说，通过正交转换技术，首先得出具有绝对速度协议的二阶多代理系统L2增益的分析表达，然后是带有相对速度协议的对应物。结果表明，绝对速度方案的L2增益仅由拉普拉斯矩阵的最小非零特征值以及状态和速度的可调增益确定。然后，我们建立图形条件，以说明哪种协议具有更好的抗扰动能力。此外，我们提出了一个两步方案，以提高二阶多代理系统的抗扰动能力。最后，进行模拟以说明我们发现的有效性。
Noticing that both the absolute and relative velocity protocols can solve the second-order consensus of multi-agent systems, this paper aims to investigate which of the above two protocols has better anti-disturbance capability, in which the anti-disturbance capability is measured by the L2 gain from the disturbance to the consensus error. More specifically, by the orthogonal transformation technique, the analytic expression of the L2 gain of the second-order multi-agent system with absolute velocity protocol is firstly derived, followed by the counterpart with relative velocity protocol. It is shown that both the L2 gains for absolute and relative velocity protocols are determined only by the minimum non-zero eigenvalue of Laplacian matrix and the tunable gains of the state and velocity. Then, we establish the graph conditions to tell which protocol has better anti-disturbance capability. Moreover, we propose a two-step scheme to improve the anti-disturbance capability of second-order multi-agent systems. Finally, simulations are given to illustrate the effectiveness of our findings.
