Distributed flocking for disturbed multiple unicycle systems under directed topologies
Distributed flocking for disturbed multiple unicycle systems under directed topologies
复制标题
有向拓扑下受干扰的多独轮车系统的分布式集群
DOI：
10.1002/rnc.4299
复制
发表时间：
2018
影响因子：
3.9
通讯作者：
Zhang Zhengqiang
中科院分区：
文献类型：
--
作者：
Li Ping;Xu Shengyuan;Zhang Baoyong;Chen Weimin;Zhang Zhengqiang
本文研究了有向拓扑下存在异构输入干扰时多个独轮车系统的聚集问题。采用自适应补偿器来消除干扰的影响。基于构造的势函数，设计了一类新颖的分布式动态控制算法，以实现具有强连通有向图的连通性保持和碰撞避免的集群。值得注意的是，所提出的控制器通过仅维持初始拓扑中的最小强连通有向图来释放连通性保留的约束。通过所提出的方法，初始图可以包含边界距离处的那些边。提出了两个说明性示例来证明本文涉及的执行器的有效性。
This paper investigates the flocking problem for multiple unicycle systems in the presence of heterogenous input disturbances under directed topologies. Adaptive compensators are employed to eliminate the effect of disturbances. Based on the constructed potential functions, a class of novel distributed dynamic control algorithms are designed to implement flocking with connectivity preservation and collision avoidance with strongly connected directed graphs. It is noted that the proposed controller has released the constraints for connectivity preservation by only maintaining a minimum strongly connected directed graph in the initial topology. With the proposed methodology, the initial graph is allowed to contain those edges at boundary distances. Two illustrative examples are presented to demonstrate the effectiveness of the actuator involved in this paper.