具有动态领导者的多智能体系统分组一致性控制

对一类具有动态领导者的非线性多智能体系统的一致性进行研究，解决了领导-跟随一致性控制问题。首先，考虑到多目标任务中广泛存在的合作-竞争机制和领导者的控制输入非零的情况，基于邻居智能体的相对状态信息，设计了一类分布式的分组一致性控制器。通过在所设计的控制器中增加补偿项，解决了由领导者非零控制输入引出的问题。引入了一类Lipschitz-like条件，解决了非线性项在实现分组一致时所带来的困难。其次，利用图论和构造Lyapunov函数，通过求解代数Riccati方程得出了系统实现分组一致性的充分条件，并基于所设计的控制器实现了多智能体系统动态领导-跟随的分组一致性控制。最后，通过数值仿真和结果分析验证了所提出控制方案的有效性和可行性。

Bipartite Consensus Control of Multiagent Systems with a Dynamic Leader

The consensus of a class of nonlinear multi-agent systems with a dynamic leader is studied, and the problem of leader-following consensus control is solved in this paper. Firstly, the cooperation-competition interaction mechanism and the non-zero control input of leader are considered, which widely exists in multi-objective tasks. Then a distributed bipartite consensus controller is designed based on the relative state information of adjacent agents. By adding compensation in the designed controller, the problem caused by the leader''s non-zero control input is solved. A class of Lipschitz-like conditions is introduced to solve the difficulty caused by nonlinear terms in realizing bipartite consensus. Secondly, we employ graph theory and construct the Lyapunov function, and the sufficient conditions for bipartite consensus of multi-agent systems are obtained by solving the algebraic Riccati equation. Then the dynamic leader-following bipartite consensus of multi-agent systems is realized. Finally, numerical simulation and analysis results verify the effectiveness and feasibility of the proposed control scheme.