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研究随机给定拓扑结构的二阶有向多智能体网络的可控包含控制问题.针对当前包含控制研究成果大多没有考虑多智能体网络领导者和跟随者的可控配置问题,结合复杂网络可控性理论和二分图最大匹配算法给出满足网络可控的领导者和跟随者集合,并为跟随者智能体设计相应的控制协议,驱使跟随者能够渐近收敛到由多个领导者构成的静态凸包中,从而实现网络的可控包含控制.仿真结果验证了理论分析的正确性.
In this paper, we study the controllable inclusions of the second-order directed multi-agent networks with random given topology.For most of the current research results of containment control, we do not consider the controllable configuration of multi-agent network leaders and followers, The control theory and the bipartite graph maximum matching algorithm give a set of leaders and followers which can be controlled by the network and design corresponding control protocols for the follower agents to drive the followers to asymptotically converge to a group of leaders Static convex hull, in order to achieve the controllable containment of the network.The simulation results verify the correctness of the theoretical analysis.