线性同构多智能体系统一致性协议研究综述

To systematically analyze the state-of-the-art, core challenges, and future trends of the consensus problem for linear homogeneous multi-agent systems, this paper presents a comprehensive, multi-dimensional review of consensus protocols, offering a clear theoretical landscape and forward-looking guidance for researchers in the field. The review begins with foundational classic linear time-invariant protocols, analyzing their design philosophy of extending single-agent observer-control theory to networked environments and proposing a unified analytical framework. Building on this, the paper investigates advanced protocols developed to address complex real-world constraints. These include: fully distributed protocols designed to eliminate reliance on global information; attack-immune protocol that eliminates information exchange between controllers; time-delay compensation protocols for overcoming communication bottlenecks; finite-time/prescribed-time consensus protocols for achieving faster convergence and stronger robustness; and attack-resilient and fault-tolerant protocols to ensure reliability in adversarial environments. Finally, current research achievements in consensus protocols and the challenges regarding their future development are summarized, followed by an outlook on potential directions for the next stage of exploration. The findings indicate that research on consensus for linear multi-agent systems has established a relatively complete theoretical framework. However, limitations persist: a unified theory for addressing coexisting, compound challenges remains underdeveloped, and traditional model-based control methods lack adaptability in highly dynamic and uncertain environments. In conclusion, key future breakthroughs are expected in: developing unified frameworks to handle compound challenges, advancing the theory and application of data-driven and learning-based control, and shifting the research paradigm from state-level “consensus” to tasklevel “coordination”.