| 多智能体系统的有限时间旋转环绕控制 |
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| 作者姓名： | Mo Lipo Yu Yongguang |
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| 作者单位： | 1.北京工商大学理学院 北京 100048 |
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| 基金项目： | the National Natural Science Foundation of China11371049the Beijing Municipal Government Foundation for Talents2012D005003000005the National Natural Science Foundation of China61304155 |
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| 摘 要： | 本文主要研究了多智能体系统的分布式有限时间旋转环绕控制问题，其中每个智能体跟踪一个目标且每个目标被一个智能体跟踪.首先，设计了有限时间环绕跟踪协议，该协议包含对所有目标几何中心的观测器以及目标与其几何中心最大距离的估计器.其次，给出了闭环系统实现有限时间环绕跟踪的充分条件.最后，通过仿真验证了所得结果的有效性.
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| 关 键 词： | 环绕控制 估计器 有限时间跟踪 多智能体系统 |
| 收稿时间： | 2016-10-20 |
Finite-time Rotating Encirclement Control of Multi-agent Systems |
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| Mo Lipo,Yu Yongguang.Finite-time Rotating Encirclement Control of Multi-agent Systems[J].Acta Automatica Sinica,2017,43(9):1665-1672. |
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| Affiliation: | 1.School of Science, Beijing Technology and Business University, Beijing 100048, China2.Department of Mathematics, Beijing Jiaotong University, Beijing, 100044, China |
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| Abstract: | This paper deals with the finite-time distributed rotating encirclement control problem of multi-agent systems, where each agent tracks one target and every target can be tracked by one agent. Firstly, finite-time encirclement tracking protocols are designed for multi-agent systems, and these protocols contain observers for the geometrical center of the targets and estimators for the maximum distance between targets and their geometrical center. Secondly, sufficient conditions for achieving finite-time encirclement tracking are obtained. Finally, simulations are provided to demonstrate the effectiveness of the presented results. |
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