Consensus Protocol in Multi-agent System Based on Density Adaptation
WAN Zikun
XU Shunxing
Abstract：In a multi agent system with switched topology,in order to solve the problem of low and high density information weakening consistency,this paper proposes a density based adaptive consistency protocol.This protocol can effectively adapt to the high and low density transitions during the convergence process of the system,and effectively maintain the connectivity of the sys-tem,making the number of clusters generated during the convergence of the system reduce.Subsequently,the stability of the consis-tency protocol is proved by using the Lyapunov function method.Finally,through simulation experiments and comparison with sever-al consistency protocols,it is verified that the designed consistency protocol can effectively enhance consistency.
Keywords：multi-agent systemconsensusswitching topologydensity adaptationLyapunov
Publication Date：2025-11-20
Online Publishing Date：2026-01-28(First online date of this platform, not the publication date of the document)
Pages：5( 3050-3054 )