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目前对群集稳定性的研究方法很多,有的是基于leader和followers模式的有序化的群集运动控制算法;有的是基于吸引排斥的思想来使网络中的智能体达到内聚的特性,但目前对系统的模型建立多是基于连续系统或离散系统,本文的构想就是通过建立带有脉冲切换的混杂系统模型,以更好的逼近群集现象中运行机制的本质,将得出的运行机制原理更好的应用于如多机器人,无人飞行器等多智能体自治系统领域。
At present, there are many research methods on the stability of the cluster, some are based on the leader and followers model of the orderly clustering motion control algorithm; some are based on the idea of attracting repulsion to make agents in the network to cohesion characteristics, but the current system The model is mostly based on continuous system or discrete system. The conception of this paper is to establish a hybrid system model with pulse switching to better approximate the nature of the operation mechanism in the cluster phenomenon. The principle of the operating mechanism will be better applied In the field of multi-agent autonomous systems such as multi-robots and unmanned aerial vehicles.