Journal of Computer Applications ›› 2022, Vol. 42 ›› Issue (1): 191-197.DOI: 10.11772/j.issn.1001-9081.2021010197

• Advanced computing • Previous Articles    

Average consensus tracking of multi-agent system with time-varying reference inputs

Yu ZHANG, Chenglin LIU()   

  1. Key Laboratory of Advanced Process Control for Light Industry,Ministry of Education(Jiangnan University),Wuxi Jiangsu 214122,China
  • Received:2021-02-03 Revised:2021-05-20 Accepted:2021-05-28 Online:2022-01-11 Published:2022-01-10
  • Contact: Chenglin LIU
  • About author:ZHANG Yu, born in 1992, M. S. His research interests include average-consensus filter of multi-agent system.
    LIU Chenglin, born in 1981, Ph. D., professor. His research interests include coordinated control of multi-agent system, nonlinear control.
  • Supported by:
    National Natural Science Foundation of China(61973139);Fundamental Research Funds for Central Universities(JUSRP22014)


张雨, 刘成林()   

  1. 轻工过程先进控制教育部重点实验室(江南大学),江苏 无锡 214122
  • 通讯作者: 刘成林
  • 作者简介:张雨(1992—),男,湖北天门人,硕士,主要研究方向:多自主体系统平均一致性滤波
  • 基金资助:


Aiming at the dynamic average consensus tracking problem of multi-agent systems with time-varying reference inputs, a proportional-integral consensus tracking algorithm was proposed. In the scenario of communication data between multi-agents being quantized, the average consensus tracking problem based on quantization was studied. Firstly, on the basis of the integral algorithm, a proportional link was introduced to make agents to track the average value of the reference inputs better by communicating with neighborhood agents under the constraints of the control agreement. Then, under the fixed, strongly connected and balanced topology structure, sufficient conditions for the multi-agent system asymptotically tracking to the average value of time-varying reference inputs without and with quantized information transmission data were obtained by using matrix analysis and Routh criteria respectively. Finally, numerical simulations verify the accuracy of the results and confirm the effectiveness of the proposed algorithm.

Key words: time-varying reference input, multi-agent system, proportional-integral algorithm, quantization, strongly connected and balanced topology



关键词: 时变参考输入, 多自主体系统, 比例-积分算法, 量化, 强连通平衡拓扑

CLC Number: