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Coordinated control of the consensus of a multi-agent system based on the inclusion principle
MA Chen, CHEN Xuebo
School of Electronics and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China
Abstract: Within the concept of the inclusion principle, the motion consisteney of a multi-agent system is considered. By using the system inclusion conditions, an overlapping deviation model of the overall system is expanded into a larger space such that each pair of the neighboring agents of the expanded system network topology can be treated as a basic unit of the overall system overlapping, and those pair-wise agents can achieve their own consensus respectively. Then integrate all of the consensus control laws of the agent pairs into the recurrent reverse order, and contract it into the original space according to the relevant inclusion conditions. The locomotion consensus coordinated control of the multi-agent system is constructed in this way. This method may effectively deal with the changes in the topological network of the system, including specific circumstances including the quantity variation of the agents.
Key words: inclusion principle     pair-wise decomposition     multi-agent system     locomotion consensus     complex system； coordinated control

1 包含原理与系统描述 1.1 系统的置换包含原理

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1.2 多智能体系统的偏差模型和重叠结构分解

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 图 1 多智能体系统网络拓扑结构, N=20 Fig. 1 Network topology of a multi-agent system, N=20

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2 多智能体的一致性协调控制

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3 仿真示例

 图 2 N=20时多智能体系统的响应曲线 Fig. 2 Response curves of the multi-agent system, N=20

 图 3 向系统中加入一个智能体，N=21 Fig. 3 Add one more agent to the former system, N=21

 图 4 N=21时多智能体系统的响应曲线 Fig. 4 Response curves of the multi-agent system, N=21
4 结束语

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DOI: 10.3969/j.issn.1673-4785.201306024

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#### 文章信息

MA Chen, CHEN Xuebo

Coordinated control of the consensus of a multi-agent system based on the inclusion principle

CAAI Transactions on Intelligent Systems, 2014, 9(4): 468-473
http://dx.doi.org/10.3969/j.issn.1673-4785.201306024