Stability Analysis and Network Topology Optimization of Multi-Agent Systems for Material Transport in Industrial Parks

Abstract

Multiple Automated Guided Vehicles promise to be an effective solution for executing tasks such as material transportation and inspection in industrial parks. In particular, system stability is the key to maintaining connectivity among multiple agents. In this paper, we build the stability model of multi-agent system (MAS) under the background of swarm robots transporting materials in an industrial park, and propose a network topology optimization method to improve the stability of MAS. In concrete, we first analyze the effect of channel environment on network topology, and the communication delay is analyzed. Then considering the communication delay and artificial potential field, we establish the stability analysis model of MAS and obtain the stability condition of the MAS by using Lyapunov correlation theorem. Finally, we formulate the network topology optimization problem of MAS by maximizing the second smallest eigenvalue of the Laplacian and get the optimal solutions. Analysis and simulation results show the effectiveness of the proposed model and algorithm.