Hu Hong-Xiang, Wen Guanghui, Yu Wenwu, Xuan Qi, Chen Guanrong
IEEE Trans Neural Netw Learn Syst. 2018 Nov;29(11):5726-5737. doi: 10.1109/TNNLS.2018.2811743. Epub 2018 Mar 29.
In this paper, the swarming behavior of multiple Euler-Lagrange systems with cooperation-competition interactions is investigated, where the agents can cooperate or compete with each other and the parameters of the systems are uncertain. The distributed stabilization problem is first studied, by introducing an auxiliary system to each agent, where the common assumption that the cooperation-competition network satisfies the digon sign-symmetry condition is removed. Based on the input-output property of the auxiliary system, it is found that distributed stabilization can be achieved provided that the cooperation subnetwork is strongly connected and the parameters of the auxiliary system are chosen appropriately. Furthermore, as an extension, a distributed consensus tracking problem of the considered multiagent systems is discussed, where the concept of equi-competition is introduced and a new pinning control strategy is proposed based on the designed auxiliary system. Finally, illustrative examples are provided to show the effectiveness of the theoretical analysis.
本文研究了具有合作-竞争交互作用的多个欧拉-拉格朗日系统的群体行为，其中智能体之间可以相互合作或竞争，且系统参数不确定。首先研究了分布式镇定问题，通过为每个智能体引入一个辅助系统，去除了合作-竞争网络满足双边形符号对称条件这一常见假设。基于辅助系统的输入-输出特性，发现只要合作子网是强连通的且辅助系统的参数选择得当，就可以实现分布式镇定。此外，作为扩展，讨论了所考虑的多智能体系统的分布式一致性跟踪问题，引入了等竞争的概念，并基于所设计的辅助系统提出了一种新的牵制控制策略。最后，给出了示例以说明理论分析的有效性。
