| 引用本文: | 俞辉,王永骥,程磊.基于有向网络的智能群体群集运动控制[J].控制理论与应用,2007,24(1):79~83.[点击复制] |
| YU Hui,WANG Yong-ji,CHENG Lei.Flocking motion control of flock indirected networks[J].Control Theory and Technology,2007,24(1):79~83.[点击复制] |
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| 基于有向网络的智能群体群集运动控制 |
| Flocking motion control of flock indirected networks |
| 摘要点击 2009 全文点击 2097 修订日期：2006-02-23 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.1.014 |
| 2007,24(1):79-83 |
| 中文关键词 智能群体 群集运动 有向图 平衡图 代数图论 |
| 英文关键词 flock/swarm flocking/swarming directed graph balance graph algebraic graph theory |
| 基金项目 国家自然科学基金资助项目 60274020 ;
国家自然科学基金国际合作项目 60340420431 |
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| 中文摘要 |
| 对具有二次积分动态的智能群体(flock/swarm),
在有向网络取得群集运动(flocking/swarming)进行了研究.
提出了一个分散控制方法对智能群体进行分散控制. 用有向图模型表
示智能体之间的相互作用及通信关系. 对固定的网络拓扑,
控制互连拓扑是固定的, 时不变的, 运用传统的LaSalle不变集原理, 代
数图论的有关技巧进行了稳定性分析, 并得到以下主要结论:
i)智能群体速度方向渐进收敛, 并保持方向一致; ii)智能群体
速度大小渐进收敛,并保持大小相等;
iii)有邻接关系的智能体(Agent)之间没有碰撞发生;
iv)智能群体的势场函数被最小化. 理论分析显示,
有向图的弱连通性及一种称为平衡图的有向图在系统的稳定性分析中扮演着关键角色.
最后, 给出了一个仿真例子
对理论结果进行了验证. |
| 英文摘要 |
| Flock with double integrator dynamics to achieve flocking motion
formation in directed networks is studied in this paper. A class of decentralized control laws for a flock of
mobile agents is proposed. The interaction and/or communication relationship between agents is modeled by directed graph.
In fixed network topology, the topology of control interconnection is fixed and time invariant. The stability analysis is
achieved by using classical LaSalle's invariant principle and the analytical techniques of algebraic graph theory,
which results in: i) global alignment of their velocity vectors, ii) convergence of their speeds to a common
speed, iii)~collisions between interconnected agents avoidance, and iv) minimization of the potential function
of flock. Theoretical analysis show that the weak connectedness of directed graph and a class of directed graphs,
called balanced graphs, play a crucial role in stability analysis. Finally, a simulation example is given to
validate the theoretical results. |
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