Flocking of Multi-Agent Non-Holonomic Systems With Proximity Graphs
Flocking of Multi-Agent Non-Holonomic Systems With Proximity Graphs
复制标题
具有邻近图的多智能体非完整系统的集群
DOI：
10.1109/tcsi.2012.2215715
复制
发表时间：
2013
影响因子：
5.1
通讯作者：
Yu, Xinghuo
中科院分区：
文献类型：
--
作者：
Zhu, Ji;ong;Lu, Jinhu;Yu, Xinghuo
多智能体系统在现实世界中无处不在，并受到全球许多研究人员越来越多的关注。多代理系统由通过通信网络互连的许多代理组成。本文旨在进一步研究具有邻近图的多智能体非完整系统中的聚集和保持连通性，其中位置和相对距离对于分布式控制器来说是不可用的。基于运动学模型和动力学模型，分别推导了解决上述问题的几个充分条件。这些充分条件表明，对于任何给定的不同初始位置和连通的初始图，总是存在线性协议的增益来保持图的连通性并实现聚集。此外，在初始航向角的附加条件下，Kuramoto模型形式的非线性协议也获得了类似的结果。最后通过数值模拟验证了上述理论结果。
Multi-agent systems are ubiquitous in the real-world and have received an increasing attention by many researchers worldwide. A multi-agent system is composed of many agents interconnected by a communication network. This paper aims to further investigate the flocking and preserving connectedness in multi-agent nonholonomic systems with proximity graphs, in which the positions and the relative distances are not available to the distributed controllers. Several sufficient conditions are derived to resolve the above problem based on the kinematic model and the dynamic model, respectively. These sufficient conditions indicate that, for any given distinct initial positions and connected initial graph, there always exist gains of the linear protocols to preserve the connectedness of the graph and realize flocking. Moreover, under an additional condition on initial heading angles, the similar result is obtained for a nonlinear protocol with the form of Kuramoto model. Finally, numerical simulations are given to validate the above theoretical results.
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DOI：
10.1016/j.sysconle.2011.04.009
发表时间：
2011-07
期刊：
Syst. Control. Lett.
影响因子：
--
作者：
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通讯作者：
Yao Chen;Jinhu Lu;F. Han;Xinghuo Yu
DOI：
10.1109/acc.2011.5991580
发表时间：
2011-08
期刊：
Proceedings of the 2011 American Control Conference
影响因子：
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作者：
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DOI：
10.23919/acc.2004.1383983
发表时间：
2005-04
期刊：
Proceedings of the 2004 American Control Conference
影响因子：
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作者：
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通讯作者：
A. Jadbabaie;N. Motee;Mauricio Barahona
影响因子：
6.4
作者：
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通讯作者：
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影响因子：
2
作者：
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通讯作者：
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