| 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,(1):56~63.[HOU Huiqing,OUYANG Zigen.Fixed-Time Leader-Following Flocking for Nonlinear Second-Order Multi-Agent Systems[J].Journal of University of South China(Science and Technology),2021,(1):56~63.] |
| 二阶非线性多智能体系统的固定时间领导-跟随集群 |
| Fixed-Time Leader-Following Flocking for Nonlinear Second-Order Multi-Agent Systems |
| 投稿时间：2020-07-25 |
| DOI：10. 19431/ j. cnki. 1673-0062. 2021. 01. 009 |
| 中文关键词: 多智能体系统 领导-跟随集群 群体大小 避免碰撞 |
| 英文关键词:multi-agent system lead-following flocking group size collision avoidance |
| 基金项目:湖南省自然科学基金项目(2019JJ40240) |
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| 中文摘要: |
| 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。 |
| 英文摘要: |
| 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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