多智能体网络有限时间聚集控制

为解决个体动态为一阶积分器的多智能体网络的有限时间聚集控制问题, 提出基于势能函数的控制方案。依据状态信息采用势能函数法设计了分布式非线性非光滑控制协议。基于微分包含、广义梯度和集值李导数的定义以及非光滑分析中不变集原理, 进行了有限时间稳定性分析, 给出网络可实现有限时间聚集控制的充分条件。最后通过仿真验证了理论方案的有效性。

Finite-Time Rendezvous Control of Multi-Agent Networks

In order to solve finite time rendezvous control problem for multi-agent networks where the dynamics of agents is modeled as a first order integrator, the control scheme is proposed based on the potential energy function. Assuming that only a subset of agents know knowledge of rendezvous objective, distributed nonlinear non-smooth control protocol is proposed based on state information and the potential function method, inspired by the principles of ther-modynamics. The finite time stability analysis is made according to the definitions of differential inclusion and generalized gradient and set-valued Lie derivative and invariance principle of non-smooth analysis so as to obtain the sufficient conditions that network can achieve finite time rendezvous.Finally, simulations are used to illustrate the effectiveness of theoretical results.