保持拓扑连通的多智能体网络有限时间聚集控制
发布时间：2018-09-05 06:33
【摘要】：针对个体动态为二阶积分器的多智能体网络,研究有限时间聚集控制问题,采用势能函数法和变结构控制思想设计分布式非光滑有界控制协议.在网络初始能量有限的前提下,得出该非线性耦合网络拓扑始终保持连通的结论.基于不变集原理和Lyapunov函数的二阶集值李导数信息,进行有限时间稳定性分析,得出在选取合适牵制权值的情况下,网络可实现保持拓扑连通的有限时间聚集的控制策略.最后通过仿真实例验证了理论方案的有效性.
[Abstract]:For the multi-agent network where the individual dynamic is a second-order integrator, the finite time aggregation control problem is studied. The distributed non-smooth bounded control protocol is designed by using the potential energy function method and the variable structure control idea. On the premise of limited initial energy of the network, it is concluded that the topology of the nonlinear coupled network is always connected. Based on the invariant set principle and the second-order set-valued lie derivative information of Lyapunov function, the finite time stability analysis is carried out, and the control strategy of finite time aggregation with topological connectivity can be achieved by selecting the appropriate holding weights. Finally, the effectiveness of the theoretical scheme is verified by a simulation example.
【作者单位】： 东北石油大学电气信息工程学院;
【基金】：国家自然科学基金优秀青年科学基金项目(61422301) 黑龙江省杰出青年基金项目(JC2015016) 黑龙江省科学基金项目(QC2013C066) 黑龙江省普通高等学校青年学术骨干支持计划项目(1254G004)
【分类号】：TP273;TP18
[Abstract]:For the multi-agent network where the individual dynamic is a second-order integrator, the finite time aggregation control problem is studied. The distributed non-smooth bounded control protocol is designed by using the potential energy function method and the variable structure control idea. On the premise of limited initial energy of the network, it is concluded that the topology of the nonlinear coupled network is always connected. Based on the invariant set principle and the second-order set-valued lie derivative information of Lyapunov function, the finite time stability analysis is carried out, and the control strategy of finite time aggregation with topological connectivity can be achieved by selecting the appropriate holding weights. Finally, the effectiveness of the theoretical scheme is verified by a simulation example.
【作者单位】： 东北石油大学电气信息工程学院;
【基金】：国家自然科学基金优秀青年科学基金项目(61422301) 黑龙江省杰出青年基金项目(JC2015016) 黑龙江省科学基金项目(QC2013C066) 黑龙江省普通高等学校青年学术骨干支持计划项目(1254G004)
【分类号】：TP273;TP18
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