School of Electronic Information, Xijing University, Xi'an, 710123, People's Republic of China.
School of Missile Engineering, PLA Rocket Force University of Engineering, Xi'an, 710025, People's Republic of China.
Sci Rep. 2023 Mar 12;13(1):4097. doi: 10.1038/s41598-023-31244-0.
The minimum-energy formation strategy for interconnected networks with distributed formation protocols is persented, where the impacts of the total energy restriction and the interaction silence are analyzed, respectively. The critical feature of this article is that the distributed formation and the minimum-energy restriction are realized simultaneously, and the total energy restriction is minimum in the sense of the linear matrix inequality. However, the guaranteed-cost formation strategy and the limited-budget formation strategy cannot guarantee that the energy restriction is minimum. Firstly, sufficient conditions for minimum-energy-restriction formation without the interaction silence are proposed, which can be solved by a specific optimization approach in terms of the linear matrix inequality, and the formation whole motion trajectory is determined, which is closely related to the average of the initial states of all agents and formation control vectors. Then, minimum-energy-restriction formation criteria for interconnected systems with the interaction silence are proposed by introducing two inhibition parameters and the interaction silence rate. Finally, two simulation examples are performed to illustrate the effectiveness of theoretical analyses.
提出了一种具有分布式编队协议的互联网络的最小能量形成策略，分别分析了总能量约束和相互作用沉默的影响。本文的关键特点是同时实现分布式编队和最小能量限制，并且在线性矩阵不等式的意义上，总能量限制最小。然而，有保证的成本形成策略和有限预算形成策略不能保证能量限制是最小的。首先，提出了在没有相互作用沉默的情况下进行最小能量限制编队的充分条件，这些条件可以通过线性矩阵不等式的特定优化方法来解决，并确定了编队的整体运动轨迹，这与所有代理和编队控制向量的初始状态的平均值密切相关。然后，通过引入两个抑制参数和相互作用沉默率，提出了具有相互作用沉默的互联系统的最小能量形成准则。最后，通过两个仿真示例来说明理论分析的有效性。
