间歇通信下基于采样数据的二阶多智能体系统包含控制

王付永; 刘忠信; 陈增强

doi:10.1631/FITEE.2000204

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间歇通信下基于采样数据的二阶多智能体系统包含控制

常规文章 | Updated：2022-05-19

- 间歇通信下基于采样数据的二阶多智能体系统包含控制
- Sampled data based containment control of second-order multi-agent systems under intermittent communications
- 信息与电子工程前沿（英文） 2021年22卷第8期页码：1059-1067
- Affiliations：
  
  Department of Automation, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
  Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
- Author bio：
  
  [ "Fuyong WANG, E-mail: wangfy@nankai.edu.cn" ]
  Zhongxin LIU, E-mail: lzhx@nankai.edu.cn
  [ "Zengqiang CHEN, E-mail: chenzq@nankai.edu.cn" ]
- Funds：
  
  Project supported by the Tianjin Natural Science Foundation of China (Nos.20JCQNJC01450 and 20JCYBJC01060) and the National Natural Science Foundation of China (No.61973175)
- DOI：10.1631/FITEE.2000204
  中图分类号： TP13
- 收稿：2020-04-30，
  
  修回：2021-;6-;8，
  
  网络出版：2021-08-04，
  
  纸质出版：2021-08
- Accepted：
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王付永, 刘忠信, 陈增强. 间歇通信下基于采样数据的二阶多智能体系统包含控制[J]. 信息与电子工程前沿（英文）, 2021,22(8):1059-1067.

Fuyong WANG, Zhongxin LIU, Zengqiang CHEN. Sampled data based containment control of second-order multi-agent systems under intermittent communications[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(8): 1059-1067.
王付永, 刘忠信, 陈增强. 间歇通信下基于采样数据的二阶多智能体系统包含控制[J]. 信息与电子工程前沿（英文）, 2021,22(8):1059-1067. DOI： 10.1631/FITEE.2000204.

Fuyong WANG, Zhongxin LIU, Zengqiang CHEN. Sampled data based containment control of second-order multi-agent systems under intermittent communications[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(8): 1059-1067. DOI： 10.1631/FITEE.2000204.

摘要

在间歇通信且智能体间相对速度不可测的情况下，基于采样位置数据研究了二阶多智能体系统的包含控制问题，提出一种基于间歇采样位置测量的二阶分布式包含控制器。通过分析系统控制增益、拉普拉斯矩阵特征值、采样周期和通信宽度之间的关系，得到二阶多智能体系统在间歇通信下实现包含控制的充要条件。最后，通过仿真实例验证了理论结果的正确性和有效性。

Abstract

This paper studies the sampled data based containment control problem of second-order multi-agent systems with intermittent communications

where velocity measurements for each agent are unavailable. A novel controller for second-order containment is put forward via intermittent sampled position data measurement. Several necessary and sufficient conditions are derived to achieve intermittent sampled containment control by means of analyzing the relationship among control gains

eigenvalues of the Laplacian matrix

the sampling period

and the communication width. Finally

several simulation examples are used to testify the correctness and effectiveness of the theoretical results.

关键词

Keywords

references

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Containment control for heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes