Journal of Guangdong University of Technology ›› 2024, Vol. 41 ›› Issue (04): 44-51.doi: 10.12052/gdutxb.230034

• Control Science and Engineering • Previous Articles    

Consensus of Switched Topology in Multi-agent System Based on Layered Neighbor Selection

Xie Guang-qiang, Wan Zi-kun, Li Yang   

  1. School of Computer Science and Technology, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2023-02-24 Published:2024-08-13

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Abstract: In the multi-agent systems with switching topology, to address the consistency problem weaken by the high and low density information, a Layered Neighbor Selection(LNS) algorithm is proposed. First, this algorithm divides the neighborhood of the agent into layers, and selects the representative neighbor agents from each layer for communication, state update and state evolution. Then, it designs a layer adjustment strategy and a layer fusion strategy to accelerate the convergence speed, Finally, it designs a layer neighborhood selection consistency protocol, and provides the influence of the number of layers on the convergence. The convergence effect of the traditional consistency protocol is limited to a specific density range and is greatly affected by different densities. Differently, the proposed protocol of this paper can adapt to different density ranges and improve the convergence speed under the condition of system stability. The stability of the consistency protocol is proved by the Lyapunov function method. The effectiveness of the proposed consistency protocol is verified by simulation in comparison with several consistency protocols.

Key words: multi-agent system, consensus, switching topology, layered neighbor selection, Lyapunov function

CLC Number: 

  • TP391
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