论文标题
离散时间矩阵加权共识
Discrete-Time Matrix-Weighted Consensus
论文作者
论文摘要
本文研究了无方向性和连接图的多代理网络的离散时间矩阵加权共识。我们首先为对称矩阵权重的普通网络中的代理提供了共识协议，其更新速率可能不同和开关网络拓扑。还考虑了一种特殊类型的矩阵加权共识，具有非对称矩阵加权，还可以考虑几种共识控制方案，例如具有缩放/旋转更新和仿射运动约束的方案。我们利用Lyapunov稳定理论来实现离散时间系统，并偶尔利用Lipschitz的Lipschitz连续性Lyapunov函数的梯度表明融合了系统在系统中的共识。最后，提供了模拟结果以说明理论结果。
This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly different update rates and switching network topologies. A special type of matrix-weighted consensus with non-symmetric matrix-weights that can render several consensus control scenarios such as ones with scaled/rotated updates and affine motion constraints is also considered. We employ Lyapunov stability theory for discrete-time systems and occasionally utilize Lipschitz continuity of the gradient of the Lyapunov function to show the convergence to a consensus of the agents in the system. Finally, simulation results are provided to illustrate the theoretical results.
