We study how to achieve the state consensus of a whole multi-agent system after adding some new agent groups dynamically in the original multi-agent system. We analyze the feasibility of dynamically adding agent groups under different forms of network topologies that are currently common, and obtain four feasible schemes in theory, including one scheme that is the best in actual industrial production. Then, we carry out dynamic modeling of multi-agent systems for the best scheme. Impulsive control theory and Lyapunov stability theory are used to analyze the conditions so that the whole multi-agent system with dynamic join characteristics can achieve state consensus. Finally, we provide a numerical example to verify the practicality and validity of the theory.

我们研究了在原始多智能体系统中动态添加一些新的智能体组后，如何实现整个多智能体系统的状态共识。我们分析了在当前常见的不同网络拓扑形式下动态添加代理组的可行性，并从理论上获得了四种可行方案，其中包括一种在实际工业生产中最佳的方案。然后，我们针对最佳方案进行多主体系统的动态建模。使用脉冲控制理论和Lyapunov稳定性理论分析条件，以使具有动态连接特性的整个多智能体系统可以达到状态共识。最后，我们提供了一个数值例子来验证该理论的实用性和有效性。