摘要
针对时变动态切换拓扑下具有多个领航者的网络化系统群集运动问题,本文分别给出了一阶/二阶网络化系统的控制算法,并对所提出的控制算法进行了理论分析.运用现代控制理论、代数图论和矩阵论等分析工具,研究了当通信拓扑为动态联合连通时,系统可以实现群集运动,即系统的运动轨迹都收敛到由多个领航者构成的凸包中.通过对系统信息拓扑连通部分的进一步研究,得到了二阶网络化系统群集运动的约束条件.最后应用仿真实验验证了结论的正确性.
Control algorithms are presented for the first-order and second-order networked systems with multiple lead-ers and time-varying dynamic switching topologies.By applying modern control theory and algebraic graph theory,the coop-erative motion of networked systems with jointly-connected topologies is studied,and the flocking motion control of net-worked systems is obtained,i.e.,trajectories of multi-agent systems are converged to the convex hull formed by multiple leaders.Through further researching the connected portion of networked systems,the constraint condition of flocking motion control for second-order networked systems is achieved.Finally,a simulation example is given to verify the effectiveness of the conclusion.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2016年第7期1751-1756,共6页
Acta Electronica Sinica
基金
国家自然科学基金(No.61273152)
山东省科技发展计划(No.2012YD03110)
关键词
多领航者
网络化系统
群集运动
联合连通
multiple leaders
networked systems
flocking motion
jointly-connected
