Hybrid Control for Connectivity Preserving Flocking
Hybrid Control for Connectivity Preserving Flocking
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DOI：
10.1109/tac.2009.2033750
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发表时间：
2009-11
影响因子：
6.8
通讯作者：
M. Zavlanos;H. Tanner;A. Jadbabaie;George Pappas
中科院分区：
文献类型：
--
作者：
M. Zavlanos;H. Tanner;A. Jadbabaie;George Pappas
在本技术说明中，我们解决了一组移动的代理的群集行为的共同目标的运动和网络拓扑控制的组合问题。而不是假设网络连接，我们通过分布式拓扑结构控制，决定删除和创建代理之间的通信链路，使网络适应组的空间分布。通过该协议确保网络连接，分散式运动控制器调整代理速度向量并调节代理间距离以维护现有网络链接。群集控制器的稳定性是建立在连续的时间通过一个可观测性参数上的二次型的图形拉普拉斯算子，利用由拓扑控制协议，这导致网络交换机之间的停留时间造成的链路删除和创建之间的时间延迟。
In this technical note, we address the combined problem of motion and network topology control in a group of mobile agents with common objective the flocking behavior of the group. Instead of assuming network connectivity, we enforce it by means of distributed topology control that decides on both deletion and creation of communication links between agents, adapting the network to the group's spatial distribution. With this protocol ensuring network connectivity, a decentralized motion controller aligns agent velocity vectors and regulates inter-agent distances to maintain existing network links. The stability of the flocking controller is established in continuous time by means of an observability argument on a quadratic form of the graph Laplacian that exploits the time delay between link deletion and creation caused by the topology control protocol, which induces a dwell time between network switches.