交换拓扑agent网络的约束约束控制

Chao Liu, Jiahao Xu
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引用次数: 1

摘要

本文研究了具有控制输入和速度约束的双积分离散智能体网络的约束问题。采用非线性投影算法将所有跟随体收敛到一个由静态先导体构成的凸包中,并提出了求解饱和约束和非凸约束等非线性约束的比例因子。基于模型变换和Lyapunov函数,在适当的假设条件下,证明了从跟随智能体到凸包的范围是不增大的。最后,通过凸分析,在拓扑图的并集包含生成树的条件下,用有界时滞算法解决了包含问题。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Constrained Containment Control of Agents Network with Switching Topologies
In this brief, the containment problem of double-integrate discrete-time agents network is investigated with control input and velocity constrains. A nonlinear projection algorithm is used to converge all follower agents into a convex hull formed by static leaders, where a scaling factor is proposed to solve the nonlinear constrains such as saturations and nonconvex constrains. Based on model transformation and Lyapunov function, the range from follower agents to the convex hull is proved to be nonincreasing under suitable assumption. Finally, after convex analysis, the containment problem is solved by the proposed algorithm with bounded time delays on condition that the union of the topology graphs contains spanning trees.
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