多智能体系统的有限时间旋转环绕控制

Mo Lipo; Yu Yongguang

doi:10.16383/j.aas.2017.e160260

多智能体系统的有限时间旋转环绕控制

doi: 10.16383/j.aas.2017.e160260

莫立坡^1, ,,
于永光^2,

1.
北京工商大学理学院北京 100048
2.
北京交通大学数学系北京 100044

基金项目:

the National Natural Science Foundation of China 11371049

the Beijing Municipal Government Foundation for Talents 2012D005003000005

the National Natural Science Foundation of China 61304155

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- 被引次数: 0
出版历程
- 收稿日期: 2016-10-20
- 录用日期: 2017-03-30
- 刊出日期: 2017-09-20

Finite-time Rotating Encirclement Control of Multi-agent Systems

Mo Lipo^{1
, ,},
Yu Yongguang^2
,

1.
School of Science, Beijing Technology and Business University, Beijing 100048, China
2.
Department of Mathematics, Beijing Jiaotong University, Beijing, 100044, China

Funds:

the National Natural Science Foundation of China 11371049

the Beijing Municipal Government Foundation for Talents 2012D005003000005

the National Natural Science Foundation of China 61304155

More Information

Author Bio:
Yongguang Yu received the M.S. degree in the Department of Mathematical Science, Inner Mongolia University, China, in 2001, and the Ph.D. degree in the Institute of Applied Mathematics, Academy of Mathematics and System Sciences, Chinese Academy of Sciences, China, in 2004. From 2007 to 2009, he was a research fellow at City University of Hong Kong, China. Since 2010, he has been a Professor with the Department of Mathematics, School of Science, Beijing Jiaotong University, China. His research interests include chaotic dynamics, chaos control and synchronisation, complex networks, nonlinear control, and multi-agent systems. E-mail: ygyu@bjtu.edu.cn

Corresponding author: Lipo Mo received the B.S. degree in the Department of Mathematics, Shihezi University, China, in 2003, and the Ph.D. degree in the School of Mathematics and Systems Science from Beihang University, Beijing, in 2010. Currently, he is an Associate Professor at Beijing Technology and Business University. His research interests include stochastic systems, coordination control of multi-agent systems, and intelligent optimization algorithm. Corresponding author of this paper. E-mail: beihangmlp@126.com

摘要

摘要: 本文主要研究了多智能体系统的分布式有限时间旋转环绕控制问题，其中每个智能体跟踪一个目标且每个目标被一个智能体跟踪.首先，设计了有限时间环绕跟踪协议，该协议包含对所有目标几何中心的观测器以及目标与其几何中心最大距离的估计器.其次，给出了闭环系统实现有限时间环绕跟踪的充分条件.最后，通过仿真验证了所得结果的有效性.
- 环绕控制 /
- 估计器 /
- 有限时间跟踪 /
- 多智能体系统
Abstract: This paper deals with the finite-time distributed rotating encirclement control problem of multi-agent systems, where each agent tracks one target and every target can be tracked by one agent. Firstly, finite-time encirclement tracking protocols are designed for multi-agent systems, and these protocols contain observers for the geometrical center of the targets and estimators for the maximum distance between targets and their geometrical center. Secondly, sufficient conditions for achieving finite-time encirclement tracking are obtained. Finally, simulations are provided to demonstrate the effectiveness of the presented results.
- Encirclement control /
- estimator /
- finite-time tracking /
- multi-agent systems
Recommended by Associated Editor Long Chen
注释:

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Fig. 1 Communication topology.

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Fig. 2 States of targets.

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Fig. 3 Geometry center.

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Fig. 4 The estimates of polar radius.

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Fig. 5 Encircling motion of agents and targets.

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