针对具有干扰的多智能体系统的离散时间群集运动问题,提出了一种有限时间收敛的包容控制算法。运用现代控制理论、代数图论和线性矩阵不等式等分析工具对所提出的控制算法进行理论分析,得到了具有干扰的离散时间多智能体系统有限时间内实现群集运动的收敛条件。分析了动态多智能体实现包容控制的运动状态,同时讨论了该系统在理想情况下达到有限时间收敛的充分条件。最后,系统仿真验证了所得结论的正确性。
As a main application branch of distributed systems, the dynamic characteristics of multi-agent systems have attracted the attention of researchers in many fields. For discrete-time flocking problems of networked systems with multiple leaders, a kind of containment control algorithms converged in finite time is presented in this paper. Based on modern control theory, algebraic graph theory and linear matrix inequality, the proposed control algorithm is analyzed theoretically. The convergence condition is also obtained to ensure the flocking motion in the finite time for discrete-time multi-agent systems. The motion state of the dynamic multi-agent systems to realize the containment control is analyzed. The sufficient condition of the system to achieve finite time convergence is discussed under ideal conditions. Finally, the system simulation results are given to illustrate the correctness of the conclusion.
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