基于牵引控制的移动多智能体系统的目标跟踪

Target Following of Mobile Multi-agent Systems Based on Pinning Control

研究了基于牵引控制的移动多智能体系统的目标跟踪问题.假设多智能体系统组成一个有向连通网络而且存在一个全局可达节点,应用Lyapunov稳定性定理研究了施加牵引控制的多智能体系统的目标跟踪,根据Nyquist判据和Greshgorin圆盘定理探讨了具有通信时延的多智能体系统的运动收敛性.最后,计算机仿真验证了结论的正确性.

Target following of mobile multi-agent systems with pinning control is studied.Suppose multi-agent systems consist of n agents,there is a directed interconnected graph with a globally reachable node.Based on the Lyapunov stability theory,the problem of target following of multi-agent systems with pinning control is analyzed.By Applying generalized Nyquist criterion and Greshgorin＇s disc theorem,the motion consensus of delayed algorithm with pinning control is discussed.Finally,computer simulations are used to show the validity of the result.