Chin. Phys. B ›› 2013, Vol. 22 ›› Issue (1): 18901-018901.doi: 10.1088/1674-1056/22/1/018901

• INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY • 上一篇    下一篇

Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

朱善迎, 陈彩莲, 关新平   

  1. a Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;
    b Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, China
  • 收稿日期:2012-04-12 修回日期:2012-07-31 出版日期:2012-12-01 发布日期:2012-12-01
  • 基金资助:
    Project supported by the National Basic Research Program of China (Grant No. 2010CB731803), the National Natural Science Foundation of China (Grant Nos. 60934003, 60974123, 61172064, and 61273181), the Science and Technology Commission of Shanghai Municipality, China (Grant No. 11511501202), and the Chenguang Program, China (Grant No. 09CG06).

Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

Zhu Shan-Ying (朱善迎), Chen Cai-Lian (陈彩莲), Guan Xin-Ping (关新平)   

  1. a Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;
    b Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, China
  • Received:2012-04-12 Revised:2012-07-31 Online:2012-12-01 Published:2012-12-01
  • Contact: Chen Cai-Lian E-mail:cailianchen@sjtu.edu.cn
  • Supported by:
    Project supported by the National Basic Research Program of China (Grant No. 2010CB731803), the National Natural Science Foundation of China (Grant Nos. 60934003, 60974123, 61172064, and 61273181), the Science and Technology Commission of Shanghai Municipality, China (Grant No. 11511501202), and the Chenguang Program, China (Grant No. 09CG06).

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摘要： This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful to tackle the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in the heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.

关键词: heterogeneous multi-agent system, consensus protocol, Markov chain

Abstract: This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful to tackle the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in the heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.

Key words: heterogeneous multi-agent system, consensus protocol, Markov chain

中图分类号:  (Computer science and technology)

  • 89.20.Ff
87.85.St (Robotics) 05.65.+b (Self-organized systems) 05.45.-a (Nonlinear dynamics and chaos)