摘要
研究了具有多个领航者的动态多自主体系统的包容控制问题,提出了多自主体系统的群集运动控制算法.利用Lyapunov稳定性理论、有限时间收敛性理论、齐次性理论和线性矩阵不等式等分析工具,对动态网络化系统进行了稳定性分析,得到了动态多自主体网络包容控制的有限时间收敛性的判定条件.实验结果表明,在多个领航者的引导下,动态自主跟随者在有限时间内可以快速收敛到由领航者所围成的几何区域内,从而实现了动态多自主体系统的群集运动的快速收敛.
In this paper, the containment control problem of a dynamic multi-agent system with multiple leaders was studied. The flocking movement control algorithms were proposed for networked multi-agent systems. Based on Lyapunov stability theory, finite-time convergence theory, homogeneity theory and linear matrix inequality analysis tools, the stability of the dynamic networked system was analyzed. The finite-time convergence condition was obtained for the containment control of dynamic multi-agent networks. The experimental results show that, under the guidance of multiple leaders, the dynamic autonomous followers can converge quickly within the geo- metrical area enclosed by the leaders in finite time, thus the fast convergence for the flocking movement of dynamic multi-agent systems is realized.
作者
杨怡泽
杨洪勇
刘凡
YANG Yize;YANG Hongyong;LIU Fan(School of Information and Electrical Engineering,Ludong University,Yantai 264039,China;School of Electrical Engineering and Telecommunications,the University of New South Wales,Sydney NSW2052,Australia)
出处
《鲁东大学学报（自然科学版）》
2018年第4期293-296,共4页
Journal of Ludong University:Natural Science Edition
基金
国家自然科学基金(61673200)
烟台市重点研发计划项目(2016ZH061)
关键词
多自主体系统
多领航者
群集包容控制
有限时间收敛
muhi-agent system
muhiple leaders
flocking containment control
finite time convergence
