基于有向网络的一致性跟踪算法

周峰; 吴炎烜

doi:10.16383/j.aas.2015.c140001

基于有向网络的一致性跟踪算法

doi: 10.16383/j.aas.2015.c140001

周峰,
吴炎烜^,

1.
北京理工大学机电学院北京 100081

基金项目:

航空科学基金(2013ZC72006)资助

详细信息

作者简介:
周峰北京理工大学机电学院博士研究生.主要研究方向为多自主体分布式控制.E-mail:summitzhou@163.com

通讯作者:
吴炎烜北京理工大学机电学院讲师.主要研究方向为多自主体分布式控制.本文通信作者.E-mail:alexwxy@bit.edu.cn

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- 被引次数: 0
出版历程
- 收稿日期: 2014-01-03
- 修回日期: 2014-09-10
- 刊出日期: 2015-01-20

Consensus Tracking Algorithms with Directed Network

ZHOU Feng,
WU Yan-Xuan^,

1.
School of Electromechanical, Beijing Institute of Technology, Beijing 100081

Funds:

Supported by Aeronautical Science Foundation of China (2013ZC7 2006)

摘要

摘要: 研究了leader有控制输入且followers未知该输入条件下的线性多智能体一致性跟踪问题.提出两种一致性跟踪算法,证明两种算法在leader到followers存在一棵有向生成树且follower间拓扑是有向条件下,网络就能跟踪leader的状态.对于第一种算法,节点根据相邻节点或leader的状态来求解其控制输入,并基于代数Riccati不等式给出连续情形下算法稳定性条件.第二种算法直接利用相邻节点或leader的状态,使followers在上述网络条件下跟踪leader的状态,同样基于代数Riccati不等式给出算法稳定性条件. 仿真结果验证了算法的有效性.
- 一致性跟踪 /
- 一致性 /
- 协同控制 /
- 代数Riccati不等式
Abstract: This paper considers consensus tracking of multi-agent systems with general linear dynamics and a leader whose control input is nonzero and unavailable to any follower. Two tracking algorithms are designed for each follower. We prove that the followers can track the leader using both algorithms if the interaction graph among them is directed and there exists a directed path from the leader to each follower. For the first algorithm, each follower calculates the neighbors' control inputs based on their states, then the stability condition is given based on the algebra Riccati inequality. The second algorithm utilizes neighbors' states directly and the followers can track the leader with the aforementioned topology based on the algebra Riccati inequality. Simulations indicate the capabilities of the algorithms.
- Consensus tracking /
- consensus /
- cooperative control /
- algebra Riccati inequality

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参考文献(20)

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