论文标题
层次多代理系统的共识，该系统具有一组时间变化的活性代理
Consensus of hierarchical multi-agent systems with a time-varying set of active agents
论文作者
论文摘要
随时间变化的分层多代理系统在许多应用中很常见。控制这些系统的一种众所周知的解决方案是使用依赖邻接矩阵的状态反馈控制器达成共识。到目前为止，该解决方案已应用于具有固定或随时间变化的通信拓扑的多代理系统。在本文中，我们考虑了单一积分器多代理系统，其中仅在任何给定时间中只有一部分代理都活跃，而活性剂的集合则是随着时间的变化而变化的。这种类型的多代理系统与模块化多层转换器和水泵系统等应用相关。我们开发了一种开关算法，该算法会通过一组将跟随器代理与领导者代理连接的图表定期选择一组活性代理。我们进一步证明，尽管有时间变化的活性剂，但开发的开关算法与经典共识协议相结合可以使领导者定义的共识状态收敛。在两个基准示例中说明了开关算法的有效性：模块化多级转换器和一个水泵系统。
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has been applied so far to multi-agent systems with fixed or time-varying communication topologies. In this paper, we consider single-integrator multi-agent systems where only a subset of the agents are active at any given time and the set of active agents is time-varying. This type of multi-agent system is relevant in applications such as modular multilevel converters and water pumping systems. We develop a switching algorithm that periodically selects a set of active agents through a set of graphs that connect the follower agents with a leader agent. We further prove that the developed switching algorithm combined with a classic consensus protocol yields convergence to a consensus state defined by the leader despite a time-varying set of active agents. The effectiveness of the switching algorithm is illustrated in two benchmark examples: a modular multilevel converter and a water pumping system.
