Redundancy-Reduction-Based Hierarchical Design in Synchronization of Multi-Agent Systems

Abstract

In this paper, a layered, undirected-network-structure, optimization approach is proposed to reduce the redundancy in multi-agent information synchronization and improve the computing rate. Based on the traversing binary tree and aperiodic sampling of the complex delayed networks theory, we proposed a network-partitioning method for pinning dynamic networks, with a more simplified, analyzable structure, and all of the traversed nodes are mathematically asymptotically synchronized at the same time. Moreover, a systematic implementable approach is proposed for application. The approach could be separated into two main steps: the first is a method of network partition that reduces the trivial interaction, which does not affect the information traversal, and the second involves applying the time-dependent functional approach of Lyapunov to give global exponential conditions, under the criteria for the synchronization of multiple agents, with a lower conservatism of the decision variables compared to some other results, so that the information available could fully benefit from the actual discrete-time communication pattern. Both mathematical proofs and numerical example evidence are presented to demonstrate the effectiveness of the implemented approach. This class contains a number of practically interesting systems, for instance, unmanned aerial vehicle (UAV) formation systems or the ground-air coordinated unmanned aerial system.