约束通信情况下非线性网络有限时间跟踪控制

Finite Time Coordinated Tracking Control of Nonlinear Networks with Constrained Communication

针对具有本质非线性动态的多智能体网络,研究个体传感范围有限情况下的有限时间协调跟踪控制问题。假设非线性动态满足Lipschitz条件且初始网络拓扑无向连通,基于智能体间的相对状态信息设计拓扑连通保持的非光滑控制协议。应用非光滑稳定性分析方法给出实现有限时间跟踪控制的充分条件,即选取合适的控制增益参数,以实现保持网络拓扑连通的有限时间跟踪控制。最后通过仿真验证该方案有效且可行。

The finite time coordinated tracking problem is studied for multi-agent networks with inherent nonlinear dynamics under the condition that each agent has limited sensing range. Based on state information between agents,the distributed nonsmooth control protocol is designed that is capable of preserving topological connection assuming that nonlinear dynamics are satisfied with Lipschitz condition and initial network topology is undirectly connected. Sufficient conditions are developed to achieve finite time tracking by applying nonsmooth stability analysis methods,that is finite time tracking with topological connection can be achieved with suitable control gain. Simulation results verify the effectiveness and correctness of the proposed control scheme.