带通信中断的离散多智能体系统的免碰撞控制

Collision avoidance control for discrete multi-agent systems with communication outages

本文研究了带有通信中断的多智能体系统在离散形式下的免碰撞和集群问题.通信中断会破坏系统的连通状态,从而导致碰撞或者不能集群,但是相关研究仍不完善.为解决相应问题,本文引入了具有截断特性的奇异通信权重,并提出了一种新的控制协议.首先,本文利用图论的理论及分析的方法,通过数学归纳的思想证明了系统在有限时间内不会产生碰撞.其次,本文利用分析的方法证明了当系统的初始状态满足一定条件时,可以实现渐近集群,并得到了集群的速度以及智能体间距离的上界.最后,本文通过数值仿真验证了结论的正确性.

In this paper,we study the collision avoidance and flocking problems of multi-agent systems with communication outages in the discrete form.Communication outages will destroy the connected state of the system,resulting in collision or failure to flock,but the related research is still not perfect.In order to solve the corresponding problems,this paper introduces a singular communication weight with cut-off characteristics,and proposes a new control protocol.First,by using the theory of graph theory and the method of analysis,this paper proves that the system will not collide in a finite time through the idea of mathematical induction.Second,by using the analysis method,it is proved that the system can achieve asymptotic flocking when the initial state of the system satisfies certain conditions,and the upper bounds of the flocking velocity and the distance between the agents are obtained.Finally,the correctness of the conclusion is verified by numerical simulation.