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基于有向网络的一致性跟踪算法

周峰 吴炎烜

周峰, 吴炎烜. 基于有向网络的一致性跟踪算法. 自动化学报, 2015, 41(1): 180-185. doi: 10.16383/j.aas.2015.c140001
引用本文: 周峰, 吴炎烜. 基于有向网络的一致性跟踪算法. 自动化学报, 2015, 41(1): 180-185. doi: 10.16383/j.aas.2015.c140001
ZHOU Feng, WU Yan-Xuan. Consensus Tracking Algorithms with Directed Network. ACTA AUTOMATICA SINICA, 2015, 41(1): 180-185. doi: 10.16383/j.aas.2015.c140001
Citation: ZHOU Feng, WU Yan-Xuan. Consensus Tracking Algorithms with Directed Network. ACTA AUTOMATICA SINICA, 2015, 41(1): 180-185. 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
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

Consensus Tracking Algorithms with Directed Network

Funds: 

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

  • 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.
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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

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