In this paper, the consensus problem of multi-agent systems with general linear dynamics is studied. Motivated by the MIMO communication technique, a general framework is considered in which different state variables are exchanged in different independent interaction topologies. This novel framework could improve the control system design flexibility and potentially improve the system performance. Fully distributed consensus control laws are proposed and analyzed for the settings of fixed and switching multiple topologies. The control law can be applied using only local information. And the control gain can be designed depending on the dynamics of the individual agent. By transforming the overall multi-agent systems into cascade systems, necessary and sufficient conditions are provided to guarantee the consensus of the overall systems under fixed and switching state variable dependent topologies, respectively. Two simulation examples are provided to illustrate the effectiveness of the proposed theoretical results.

本文研究了具有一般线性动力学的多智能体系统的一致性问题。在 MIMO 通信技术的推动下，考虑了一个通用框架，其中不同的状态变量在不同的独立交互拓扑中交换。这种新颖的框架可以提高控制系统设计的灵活性并潜在地提高系统性能。针对固定和切换多种拓扑的设置，提出并分析了全分布式共识控制律。可以仅使用本地信息来应用控制律。并且可以根据个体代理的动态来设计控制增益。通过将整个多智能体系统转换为级联系统，分别提供了必要和充分条件以保证在固定和开关状态变量相关拓扑下的整个系统的一致性。提供了两个仿真例子来说明所提出的理论结果的有效性。