论文标题
高阶多代理系统的快速共识
Fast consensus of high-order multi-agent systems
论文作者
论文摘要
在本文中，考虑了无向拓扑下高阶多代理系统的快速共识问题。共识收敛率与控制增益之间的直接联系。提出了基于梯度下降的加速共识算法来优化收敛速率。通过应用Routh-Hurwitz稳定性标准，得出了收敛速率的下限，并得出明确的控制增益作为实现最佳收敛速率的必要条件。此外，具有随时间变化的控制收益的协议旨在达到有限的时间共识。给出了时间变化的控制收益和最终共识状态的明确公式。给出了数值示例和仿真结果，以说明获得的理论结果。
In this paper, the fast consensus problem of high-order multi-agent systems under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. An accelerated consensus algorithm based on gradient descent is proposed to optimize the convergence rate. By applying the Routh-Hurwitz stability criterion, the lower bound on the convergence rate is derived, and explicit control gains are derived as the necessary condition to achieve the optimal convergence rate. Moreover, a protocol with time-varying control gains is designed to achieve the finite-time consensus. Explicit formulas for the time-varying control gains and the final consensus state are given. Numerical examples and simulation results are presented to illustrate the obtained theoretical results.
