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基于部分三阶邻居信息的一致性算法

严志强 葛磊 张跃跃 窦磊

严志强, 葛磊, 张跃跃, 窦磊. 基于部分三阶邻居信息的一致性算法. 自动化学报, 2021, 47(9): 2285−2291 doi: 10.16383/j.aas.c180826
引用本文: 严志强, 葛磊, 张跃跃, 窦磊. 基于部分三阶邻居信息的一致性算法. 自动化学报, 2021, 47(9): 2285−2291 doi: 10.16383/j.aas.c180826
Yan Zhi-Qiang, Ge Lei, Zhang Yue-Yue, Dou Lei. A consensus algorithm based on partial third-order neighbors' information. Acta Automatica Sinica, 2021, 47(9): 2285−2291 doi: 10.16383/j.aas.c180826
Citation: Yan Zhi-Qiang, Ge Lei, Zhang Yue-Yue, Dou Lei. A consensus algorithm based on partial third-order neighbors' information. Acta Automatica Sinica, 2021, 47(9): 2285−2291 doi: 10.16383/j.aas.c180826

基于部分三阶邻居信息的一致性算法

doi: 10.16383/j.aas.c180826
详细信息
    作者简介:

    严志强 南京理工大学硕士研究生.主要研究方向为图像处理, 人工智能. E-mail: yanzq@njust.edu.cn

    葛磊  南京理工大学硕士研究生.主要研究方向为嵌入式开发, 人工智能. E-mail: gl_njust@njust.edu.cn

    张跃跃  南京理工大学硕士研究生.主要研究方向为嵌远程网络控制, 人工智能. E-mail: zyy13142021@163.com

    通讯作者:

    窦磊  南京理工大学研究员.主要研究方向为导航, 制导与控制, 人工智能. 本文通信作者. E-mail: douleijs@163.com

  • 本文责任编委 诸兵

A Consensus Algorithm Based on Partial Third-order Neighbors' Information

More Information
    Author Bio:

    YAN Zhi-Qiang  Master student at Nanjing University of Science and Technology. His research interest covers image processing and artificial intelligence

    GE Lei  Master student at Nanjing University of Science and Technology. His research interest covers embedded development and artificial intelligence

    ZHANG Yue-Yue  Master student at Nanjing University of Science and Technology. His research interest covers control of remote network and artificial intelligence

    Corresponding author: DOU Lei  Professor at Nanjing University of Science and Technology. His research interest covers guidance, navigation and control, and artificial intelligence. Corresponding author of this paper
  • Recommended by Associate Editor ZHU Bing
  • 摘要: 针对多智能体一致性算法中的通信问题, 提出了一种近邻原则, 即利用部分二阶和部分三阶邻居信息, 在固定无向连通拓扑图的基础上, 应用于三阶多智能体系统.通过MATLAB仿真, 将所提出的算法与经典的三阶一致性算法进行比较, 仿真结果表明该算法能够使系统达到一致, 并且提高了系统的收敛速度, 减少了系统通讯量.
    Recommended by Associate Editor ZHU Bing
    1)  本文责任编委 诸兵
  • 图  1  TNI一阶与二阶通信拓扑

    Fig.  1  TNI first-order and second-order communication topology

    图  2  TNI三阶通信拓扑

    Fig.  2  TNI third-order communication topology

    图  3  PTNI部分三阶通信拓扑

    Fig.  3  PTNI part of third-order communication topology

    图  4  PTNI部分二阶通信拓扑

    Fig.  4  PTNI part of second-order communication topology

    图  5  TNI仿真图

    Fig.  5  Simulated diagrams of TNI

    图  6  PTNI仿真图

    Fig.  6  Simulated diagrams of PTNI

    图  7  PPTNI仿真图

    Fig.  7  Simulated diagrams of PPTNI

    表  1  收敛速度达到一致的时间(取值误差为1%)

    Table  1  Times that the convergence speed achieves consensus

    算法 通信线路数量 最小时间(s) 最大时间(s) 平均时间(s)
    TNI 35 8.504 10.222 9.381
    PTNI 29 8.260 10.015 9.1375
    PPTNI 24 8.152 9.959 9.0555
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-12-11
  • 录用日期:  2019-02-27
  • 刊出日期:  2021-10-13

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