Yang Junyi, Xiao Feng, Ma Jie
IEEE Trans Cybern. 2019 Jul;49(7):2556-2567. doi: 10.1109/TCYB.2018.2828645. Epub 2018 May 3.
This paper investigates the containment control problem of multiagent systems with double integrator dynamics under directed topologies. A model-based edge-event-triggered control protocol is proposed, in which the control input to each agent only contains edge information and its own velocity information. Continuous detection is avoided by the establishment of a predictive model and each controller is only updated at its own event time instants. The theoretical results show that, under our control protocol, the containment control problem can be solved and the Zeno behavior is excluded. The effectiveness is further illustrated by simulation results.
本文研究了具有双积分器动力学的多智能体系统在有向拓扑下的包容控制问题。提出了一种基于模型的边缘事件触发控制协议，其中每个智能体的控制输入仅包含边缘信息及其自身的速度信息。通过建立预测模型避免了连续检测，并且每个控制器仅在其自身的事件时刻进行更新。理论结果表明，在我们的控制协议下，可以解决包容控制问题并排除芝诺行为。仿真结果进一步说明了该方法的有效性。
