基于分层邻域选择的切换拓扑多智能体系统一致性协议

谢光强; 万梓坤; 李杨

doi:10.12052/gdutxb.230034

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基于分层邻域选择的切换拓扑多智能体系统一致性协议

控制科学与工程 | 更新时间：2026-05-27

- 基于分层邻域选择的切换拓扑多智能体系统一致性协议
- Consensus of Switched Topology in Multi-agent System Based on Layered Neighbor Selection
- 广东工业大学学报 2024年41卷第4期页码：44-51
- 作者机构：
  
  广东工业大学计算机学院,广东,广州,510006
- 作者简介：
  
  谢光强(1979–)，男，教授，博士，主要研究方向为多智能体、智能控制、差分隐私保护，E-mail：xiegq@gdut.edu.cn
  李杨(1980–)，女，教授，博士，主要研究方向为多智能体、差分隐私保护，E-mail：liyang@gdut.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(62006047，618760439)
- DOI：10.12052/gdutxb.230034
  中图分类号： TP391
- 纸质出版：2024
- 稿件说明：
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谢光强, 万梓坤, 李杨. 基于分层邻域选择的切换拓扑多智能体系统一致性协议[J]. 广东工业大学学报, 2024, 41(4): 44-51.

Xie Guang-qiang, Wan Zi-kun, Li Yang. Consensus of Switched Topology in Multi-agent System Based on Layered Neighbor Selection[J]. 2024, 41(4): 44-51.
谢光强, 万梓坤, 李杨. 基于分层邻域选择的切换拓扑多智能体系统一致性协议[J]. 广东工业大学学报, 2024, 41(4): 44-51. DOI： 10.12052/gdutxb.230034.

Xie Guang-qiang, Wan Zi-kun, Li Yang. Consensus of Switched Topology in Multi-agent System Based on Layered Neighbor Selection[J]. 2024, 41(4): 44-51. DOI： 10.12052/gdutxb.230034.

摘要

在切换拓扑的多智能体系统中，针对高低密度信息减弱一致性的问题，提出了一种基于分层邻域选择算法(Layered Neighbor Selection

LNS) ，该算法对智能体的邻域进行层次划分，从每层中选取具有代表性的邻居智能体进行通信、状态更新和状态演化，然后设计了层次调整策略和层次融合策略来加快收敛速度，最后设计了分层邻域选择一致性协议，且给出了层数对收敛的影响。现有的一致性协议，收敛效果受限于特定密度范围，受不同密度的影响较大，而本文提出的协议能适应不同密度范围，并在系统稳定的条件下提升收敛速度，且通过李雅普诺夫函数法证明了一致性协议的稳定性。最后通过仿真实验，并与几种一致性协议进行比较，验证了所设计的一致性协议能有效加快系统收敛速度。

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.

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