Consensus of Hybrid Multi-agent Systems

TL;DR

This paper investigates the consensus problem in hybrid multi-agent systems combining continuous and discrete dynamics, proposing protocols and conditions for achieving consensus, supported by theoretical analysis and simulations.

Contribution

It introduces three consensus protocols for hybrid systems and establishes necessary and sufficient conditions for consensus based on matrix and graph theory.

Findings

Consensus states are achieved under various protocols.

Conditions depend on sampling period restrictions.

Simulation confirms theoretical results.

Abstract

In this paper, we consider the consensus problem of hybrid multi-agent system. First, the hybrid multi-agent system is proposed which is composed of continuous-time and discrete-time dynamic agents. Then, three kinds of consensus protocols are presented for hybrid multi-agent system. The analysis tool developed in this paper is based on the matrix theory and graph theory. With different restrictions of the sampling period, some necessary and sufficient conditions are established for solving the consensus of hybrid multi-agent system. The consensus states are also obtained under different protocols. Finally, simulation examples are provided to demonstrate the effectiveness of our theoretical results.