| 引用本文: | 刘泽,刘易成.带通信中断的离散多智能体系统的免碰撞控制[J].控制理论与应用,2023,40(12):2172~2178.[点击复制] |
| LIU Ze,LIU Yi-cheng.Collision avoidance control for discrete multi-agent systems with communication outages[J].Control Theory and Technology,2023,40(12):2172~2178.[点击复制] |
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| 带通信中断的离散多智能体系统的免碰撞控制 |
| Collision avoidance control for discrete multi-agent systems with communication outages |
| 摘要点击 1101 全文点击 353 投稿时间：2023-04-11 修订日期：2023-12-18 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2023.30207 |
| 2023,40(12):2172-2178 |
| 中文关键词 中断 免碰撞 集群 奇异通信权重 |
| 英文关键词 outages collision avoidance flocking singular communication weights |
| 基金项目 |
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| 中文摘要 |
| 本文研究了带有通信中断的多智能体系统在离散形式下的免碰撞和集群问题. 通信中断会破坏系统的连
通状态, 从而导致碰撞或者不能集群, 但是相关研究仍不完善. 为解决相应问题, 本文引入了具有截断特性的奇异
通信权重, 并提出了一种新的控制协议. 首先, 本文利用图论的理论及分析的方法, 通过数学归纳的思想证明了系统
在有限时间内不会产生碰撞. 其次, 本文利用分析的方法证明了当系统的初始状态满足一定条件时, 可以实现渐近
集群, 并得到了集群的速度以及智能体间距离的上界. 最后, 本文通过数值仿真验证了结论的正确性. |
| 英文摘要 |
| In this paper, we study the collision avoidance and flocking problems of multi-agent systems with communication outages in the discrete form. Communication outages will destroy the connected state of the system, resulting in
collision or failure to flock, but the related research is still not perfect. In order to solve the corresponding problems, this
paper introduces a singular communication weight with cut-off characteristics, and proposes a new control protocol. First,
by using the theory of graph theory and the method of analysis, this paper proves that the system will not collide in a finite
time through the idea of mathematical induction. Second, by using the analysis method, it is proved that the system can
achieve asymptotic flocking when the initial state of the system satisfies certain conditions, and the upper bounds of the
flocking velocity and the distance between the agents are obtained. Finally, the correctness of the conclusion is verified by
numerical simulation. |
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