多智能体系统的一致性问题是当前控制领域的一个研究热点并取得了丰富的研究成果。多数文献主要考虑了线性算法和智能体状态可测的情况, 而在某些实际应用中, 智能体的状态难以直接观测。研究了二阶多智能体系统在非线性输出网络下的一致性算法。对于状态量难以直接测量的多智能体系统, 分别设计了在有领导者和无领导者的情况下的非线性一致性算法, 并应用不变集定理证明多智能体系统的收敛性, 推导出了无领导者情况下系统的一致性收敛值。最后给出数值仿真验证了定理的有效性, 并针对不同情况进行了分析。

Consensus problem for multi-agent systems has become a hot topic in the control community, and many research achievements have been reported. Most of the literatures mainly consider the case of linear algorithms and measurable agent states, but it is difficult to measure states of the agents directly in some real applications. Consensus problem for second-order, multi-agent systems with nonlinear output network is studied in the paper. To the multi-agent system difficult to measure directly, a consensus protocol design method is proposed respectively for second-order, multi-agent systems with a leader and without a leader. Consensus convergence is proved by using invariant set theorem, and the decision value is derived for the case of multi-agent system without a leader. Finally, the numerical simulations and analysis on different conditions are given to verify the effectiveness of theoretical results.