基于事件驱动的多智能体系统蜂拥控制

提出一种基于事件驱动的控制策略来研究多智能体系统的蜂拥行为。针对实际系统中相对速度信息难以连续交换的情况,设计了由事件驱动机制触发速度信息交互的控制算法。理论上证明了所设计的事件驱动策略能使系统实现稳定的蜂拥运动同时保持网络的连通性。最后,数值仿真验证了理论结果。

Event-triggered flocking control of multi-agent systems

In this paper, we proposed an event-triggered control strategy to investigate flocking behavior of multi-agent systems. Since the relative velocity information cannot be transmitted continuously in realistic systems, we designed a control algorithm in which the velocity information is transmitted by the event-triggered strategy. We have proven theoretically that the designed event-triggered strategy can realize stable flocking motion while preserve the connectivity of networks. At the end, the results are verified by numerical simulation.