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针对具有本质非线性动态的多智能体网络,基于微分包含理论研究有限时间协调跟踪问题.假设非线性动态满足Lipschitz条件且只有部分智能体已知目标动态,设计分布式混杂控制协议,应用非光滑稳定性分析方法给出系统实现有限时间跟踪的充分条件.若无向切换拓扑保持连通或有向拓扑具有生成树且强连通部分满足细致平衡条件,则选取合适的控制增益参数均能实现有限时间跟踪.最后通过仿真实验表明了所提出方案的有效性和正确性.
Aiming at the problem of limited time coordination and tracking based on differential inclusion theory for multi-agent networks with intrinsic nonlinear dynamics, we assume that nonlinear dynamics satisfy Lipschitz condition and only some agents have known target dynamics. We design distributed hybrid control protocols and apply non-smooth The stability analysis method gives the sufficient conditions for the system to achieve finite time tracking.If the undirected switching topology remains connected or the directed topology has a spanning tree and the strong connected part satisfies the meticulous balancing conditions, then the appropriate control gain parameters can achieve a finite time Finally, the simulation results show the validity and correctness of the proposed scheme.