Surrounding Problem of Multi-agent Systems Under Arbitrary Topology  

作　　者：LIU Weifeng RU Xinfeng WEN Chenglin DONG Lijing 

机构地区：[1]School of Automation,Hangzhou Dianzi University,Hangzhou 310018,China [2]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China

出　　处：《Chinese Journal of Electronics》2020年第4期750-758,共9页电子学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61771177,No.U1509203,No.61751304)。

摘　　要：This paper studies surrounding dynamically multi-targets with second-order integrator/nonlinear systems and continuous time-varying topology.The continuous time-varying topology refers to the continuous change of the topology rather than switching in several fixed topologies.Surrounding multi-targets is an extension of containment control.The distributed control algorithm is designed based on the containment control theory.By transforming the system of containment control into error stability,the condition that the error between multi-agent systems and multi-targets to be constant can be obtained by using the algebraic graph theory,matrix theory and Lyapunov function stability analysis.The multiagent systems can dynamically surround multi-targets by designing the deviation vector.Finally,simulation experiments verify the effectiveness of the proposed algorithm.

关 键 词：Continuous time-varying topology Containment control Second-order integrator/nonlinear systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]