通讯网络中二维群体运动的一致性

Consensus Control for a Class of Second-Order Networks of Dynamic Agents

通过数学模型的建立,研究了二维固定网络中群体运动的一致性问题.其一致性体现在当时间趋于足够大时,位置达到统一,速度趋于零.在该问题的处理过程中,通过考虑外部环境对速度的反馈控制及相邻个体之间的相互影响,建立相应的线性关系,并对具体情况进行数值仿真后,得出最终数值结果与理论结果相一致的结论.

The consensus problems for networks of second-order networks of dynamic agents are investigated through the construction of the mathematical model.The average-consensus problem is suggested for such class of networks,which includes two aspects,the agreement of the states,and the convergence to zero of the speed of the agents.The fixed topology case in the second-order networks is considered.A linear consensus protocol for such networks is established for solving such a consensus problem that includes two parts,a local speed feedback controller and the interactions from the neighbors.Numerical simulations are given to illustrate the validity of the result.