有向通讯网络下一类动态群体的整体动力学行为

Global dynamic-behavior of a group of swarms in directed communication network

中文关键词  群体  分布式控制协议  动力学行为  赫尔维茨稳定

英文关键词  swarm  distributed control protocol  dynamical behavior  Hurwitz stable

中文摘要

      本文运用图论、矩阵分析和现代控制理论的方法, 研究有向通讯网络下一类二维群体的全局动力学行为. 此类群体由众多具有相同动力学性质的个体组成, 每个个体在不与其他个体发生作用的情况下是李雅普诺夫稳定的, 与其他个体交流的信息是传感器测得的带有偏差的位置信息. 当每个个体采取分布式线性控制协议时, 整个群体的动力学行为, 不仅和个体的动力学方程有关, 而且和网络结构的代数特征有关. 本文具体给出了群体出现全局渐近聚集、周期振荡和发散3种不同行为的代数判据. 最后, 仿真例子验证了本文结果的有效性.

英文摘要

      This paper investigates global dynamic-behavior of a group of swarms in directed network by means of graph theory, matrix analysis and control theory. The swarms consist of many identical dynamical agents and each agent is stable in the sense of Lyapunov when it is disconnected from other agents. Each agent communicates the biased position information with its neighbors. When each dynamical agent employs a linear distributed protocol in communication network, the global dynamic-behaviors of swarms not only depend on the dynamic equations of agents, but also on the algebraic characteristics associated with the network topology. Moreover, algebraic criteria are developed for the agents to achieve gradual aggregation, periodical stability or divergence in trajectories. Finally, the simulation example shows the desired result.