| 二阶非线性多智能体系统的固定时间领导-跟随集群 |
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| 引用本文： | 侯惠清,欧阳自根.二阶非线性多智能体系统的固定时间领导-跟随集群[J].南华大学学报(自然科学版),2021,35(1):56-63. |
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| 作者姓名： | 侯惠清 欧阳自根 |
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| 作者单位： | 南华大学 数理学院,湖南 衡阳421001;南华大学 数理学院,湖南 衡阳421001 |
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| 基金项目： | 湖南省自然科学基金项目(2019JJ40240) |
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| 摘 要： | 对多智能体系统的固定时间领导-跟随集群问题进行了研究.利用非光滑技巧,结合一个固定时间稳定性定理和图论,实现了多智能体系统在固定时间内形成领导-跟随集群,得到了稳定时间上界估计式.同时给出了个体之间避免碰撞的一个充分条件,并且刻画了系统达到稳定状态时的群体大小.最后通过仿真模拟验证了理论分析的有效性.
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| 关 键 词： | 多智能体系统 领导-跟随集群 群体大小 避免碰撞 |
| 收稿时间： | 2020/7/25 0:00:00 |
Fixed-Time Leader-Following Flocking for Nonlinear Second-Order Multi-Agent Systems |
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| HOU Huiqing,OUYANG Zigen.Fixed-Time Leader-Following Flocking for Nonlinear Second-Order Multi-Agent Systems[J].Journal of Nanhua University:Science and Technology,2021,35(1):56-63. |
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| Authors: | HOU Huiqing OUYANG Zigen |
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| Institution: | School of Mathematics and Physics,University of South China, Hengyang, Hunan 421001,China |
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| Abstract: | This paper focuses on the fixed-time leader-following flocking for nonlinear second-order multi-agent systems. Applying non-smooth techniques, a fixed-time stability theorem and graph theory, the fixed-time leader-following flocking for the multi-agent systems is achieved and the upper bound of the settling time is estimated. Moreover, a sufficient condition of collision avoidance between agents is built. In addition, the upper bound of the group size for the system at a stable state is portrayed. Finally, the effectiveness of the theoretical results is illustrated by simulation. |
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| Keywords: | multi-agent system lead-following flocking group size collision avoidance |
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