| Lyapunov-Razumikhin定理应用于多自主体系统的编队问题 |
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| 引用本文： | 高扬,赵微. Lyapunov-Razumikhin定理应用于多自主体系统的编队问题[J]. 数学的实践与认识, 2011, 41(20) |
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| 作者姓名： | 高扬 赵微 |
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| 作者单位： | 1. 大庆师范学院数学系,大庆黑龙江163712;郑州大学数学系,郑州河南450052
2. 大庆师范学院数学系,大庆黑龙江,163712 |
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| 基金项目： | 黑龙江省青年科学基金项目“不连续动力系统的稳定与镇定”支持(QC2009C99) |
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| 摘 要： | 在群集中编队是很普遍的.研究了没有"leader"的群集编队问题.考虑输入端带有扰动和时滞.所考察的多智主体系统具有固定和切换拓扑两种情况.应用Lyapunov-Razumikhin定理到输入有时滞影响的编队问题中.解决了输入端有时滞和扰动以及主体是单"integrators"情形的编队问题.
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| 关 键 词： | 编队 时滞 拉普拉斯矩阵 多自主体 |
Apply Lyapunov-Razumikhin Theorem to Multi-agent Systems' Formation Problems |
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| GAO Yang,ZHAO Wei. Apply Lyapunov-Razumikhin Theorem to Multi-agent Systems' Formation Problems[J]. Mathematics in Practice and Theory, 2011, 41(20) |
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| Authors: | GAO Yang ZHAO Wei |
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| Affiliation: | GAO Yang~(1,2),ZHAO Wei~1 (1.Department of Mathematics,Daqing Normal University,Daqing 163712,China) (2.Department of Mathematics,Zhengzhou University,Zhengzhou 450052,China) |
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| Abstract: | Formation in flocking is universal.In this paper,formation in flocking without leaders is studied.Inputs with disturbances and time delays are considered.Both fix and switching topologies are considered for multi-agent system.Formation problem under disturbances and time-delay in inputs and agents in the single integrators is solved. Lyapunov-Razumikhin theorem is applied in formation problem when inputs are affected by time delays. |
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| Keywords: | formation time delay Laplacian multi-agent |
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