高阶有向积分器网络的包含控制  

Containment control for high-order multi-agent systems under directed topologies

作　　者：王寅秋[1] 伍清河[1] 王垚[1] 

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《控制与决策》2013年第8期1195-1199,1206,共6页Control and Decision

基　　金：国家自然科学基金项目(61074031)

摘　　要：研究高阶固定有向积分器网络的包含控制问题.针对静止和运动的领导者,分别为跟随者提出了不同的控制协议.领导者是静止的情况下,应用拉普拉斯变换终值定理提出线性控制协议,驱使跟随者渐近进入由多个领导者所构成的静态凸包中;领导者是移动的情况下,提出非线性控制协议,以保证跟随者能够渐近进入由多个领导者所构成的动态凸包中,并使跟随者一直保持在该凸包中,同时提出了能够达到这一目标的充分条件.仿真结果验证了该理论分析的正确性.The containment control for high-order multi-agent systems under fixed directed topologies is investigated in this paper. The control protocols are proposed when the leaders are stationary and dynamical, respectively. For the stationary leaders, using the final-value theorem of the Lapalace transform, the designed linear control protocol drives all followers to converge into the stationary convex hull spanned by the leaders, asymptotically. For the dynamical leaders, the nonlinear protocol is developed to guarantee all followers converge into the dynamical convex hull formed by the leaders. And sufficient conditions of the containment control are proposed. Simulation results validate these theoretical results.

关 键 词：包含控制 高阶系统 多智能体网络 有向网络拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]