航空学报2026，Vol.47Issue(z1)：91-100,10.DOI:10.7527/S1000-6893.2025.32998
切换多智能体系统的全分布式比例一致性控制
Fully distributed scaled consensus for switched multi-agent systems
摘要
Abstract
This paper investigates the fully distributed scaled consensus problem of switched multi-agent systems,in which the Multi-Agent System(MAS)involves both the switching characteristics of individual agent models and com-munication networks.Control inputs are subject to saturation constraints,and system states are affected by scaling properties.A stochastic switching law that integrates the advantages of Markov switching and dwell-time switching is employed.The difficulties caused by random switching of agent models and communication networks,unknown global information of the communication network,input saturation constraints,and scaling properties among individual states make the fully distributed scaled consensus problem difficult to be solved directly by existing approaches.Therefore,this paper designs a novel adaptive scaled consensus algorithm and a Lyapunov function,and introduces an algebraic Riccati equation.On this basis,the conditions are established under which the switched multi-agent system can achieve almost surely exponential scaled consensus in a fully distributed fashion.In particular,the obtained conditions admit feasible solutions and are very easy to solve.Finally,an unmanned aerial vehicle swarm is introduced to verify the effectiveness of the proposed control scheme.关键词
多智能体系统/一致性/随机切换/全分布式/自适应控制/输入饱和Key words
multi-agent system/consensus/stochastic switching/fully distributed/adaptive control/input saturation分类
航空航天引用本文复制引用
孙亚平,王勇,袁爽,苏厚胜,妙锁霞,杨鑫松..切换多智能体系统的全分布式比例一致性控制[J].航空学报,2026,47(z1):91-100,10.基金项目
国家重点研发计划(2025YFE0114800) （2025YFE0114800）
国家自然科学基金(62303336,62561160100,62373262,62263024) （62303336,62561160100,62373262,62263024）
特殊环境机器人技术四川省重点实验室开放基金资助(24kftk01) National Key R&D Program of China(2025YFE0114800) （24kftk01）
National Natural Science Foundation of China(62303336,62561160100,62373262,62263024) （62303336,62561160100,62373262,62263024）
Fund of Robot Technology Used for Special Environment Key Laboratory of Sichuan Province(24kftk01) （24kftk01）
