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针对个体动态为二阶积分器的多智能体网络,研究有限时间聚集控制问题,采用势能函数法和变结构控制思想设计分布式非光滑有界控制协议.在网络初始能量有限的前提下,得出该非线性耦合网络拓扑始终保持连通的结论.基于不变集原理和Lyapunov函数的二阶集值李导数信息,进行有限时间稳定性分析,得出在选取合适牵制权值的情况下,网络可实现保持拓扑连通的有限时间聚集的控制策略.最后通过仿真实例验证了理论方案的有效性.
For the multi-agent networks with individual dynamics as second-order integrators, the finite-time aggregation control problem is studied, and the distributed non-smooth bounded control protocols are designed using the potential energy function method and the variable structure control idea. Based on the invariant set principle and the second-order set-valued pluse derivatives of Lyapunov function, the finite-time stability analysis is carried out, and it is found that in the case of selecting the appropriate restraining weight, the network It can realize the control strategy of finite time aggregation which keeps the topology connected.Finally, the simulation results show the validity of the theoretical scheme.