二重レートマルチエージェントシステムの合意制御

抄録

In this paper, we discuss about consensus control of dual-rate multi-agent systems, where the communication period is expressed as an integer multiple of the update period. In consensus control, each agent exchanges its state with neighbor agents and determines control input. In single-rate control, communication with adjacent agents and update of control input are simultaneous since all periods are unified. Therefore, if the control input can be updated more frequently than the communication period, as in a dual-rate system, the update period must be as long as the communication period in order to design a single-rate system. In mobile systems, communication consumes power, so its frequency should be reduced as much as possible, while frequent input updates can improve performance. Therefore, we study stability, consensus achievements, and graph structure in dual-rate multi-agent systems is studied in a dual-rate multi-agent system where the communication period is longer than the updated period. Finally, to demonstrate the significance of this study, numerical examples comparing dual-rate control and single-rate control are presented.