二阶非线性多智能体系统的固定时间领导-跟随集群  

Fixed-Time Leader-Following Flocking for Nonlinear Second-Order Multi-Agent Systems

作　　者：侯惠清 欧阳自根[1] HOU Huiqing;OUYANG Zigen(School of Mathematics and Physics,University of South China, Hengyang, Hunan 421001,China)

机构地区：[1]南华大学数理学院,湖南衡阳421001

出　　处：《南华大学学报（自然科学版）》2021年第1期56-63,共8页Journal of University of South China：Science and Technology

基　　金：湖南省自然科学基金项目(2019JJ40240)。

摘　　要：对多智能体系统的固定时间领导-跟随集群问题进行了研究。利用非光滑技巧,结合一个固定时间稳定性定理和图论,实现了多智能体系统在固定时间内形成领导-跟随集群,得到了稳定时间上界估计式。同时给出了个体之间避免碰撞的一个充分条件,并且刻画了系统达到稳定状态时的群体大小。最后通过仿真模拟验证了理论分析的有效性。This paper focuses on the fixed-time leader-following flocking for nonlinear second-order multi-agent systems.Applying non-smooth techniques,a fixed-time stability theorem and graph theory,the fixed-time leader-following flocking for the multi-agent systems is achieved and the upper bound of the settling time is estimated.Moreover,a sufficient condition of collision avoidance between agents is built.In addition,the upper bound of the group size for the system at a stable state is portrayed.Finally,the effectiveness of the theoretical results is illustrated by simulation.

关 键 词：多智能体系统 领导-跟随集群 群体大小 避免碰撞 

分 类 号：O175[理学—数学]