Tang Chengmei, Ji Lianghao, Yang Shasha, Guo Xing, Li Huaqing
Chongqing Key Laboratory of Image Cognition, Chongqing University of Posts and Telecommunications, Chongqing 400065, China; School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.
Chongqing Key Laboratory of Image Cognition, Chongqing University of Posts and Telecommunications, Chongqing 400065, China; School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.
ISA Trans. 2024 May;148:156-168. doi: 10.1016/j.isatra.2024.03.002. Epub 2024 Mar 4.
In this paper, the problem of prescribed-time containment control for a second-order multiple leader-follower systems (MLFSs) is studied, in where both collision avoidance and connectivity maintenance of the agents are considered. Firstly, an effective exponential potential field function (EAPF) with constraints based on the estimated distance is designed to achieve collision resistance and connectivity preservation of the agents at a prescribed-time. Secondly, an estimator-based distributed control protocol is proposed, which drives the agents to achieve containment control in a cooperative manner at a prescribed-time. Furthermore, a novel distributed control protocol containing a collision avoidance term and a containment control term is addressed as well, which enables all followers to complete collision avoidance and connectivity maintenance in any prescribed-time and enter the leaders' convex packet. Finally, the stability of the system is technically analyzed by using Lyapunov theory, and the effectiveness of the presented strategies is verified by several simulations.
本文研究了二阶多领导-跟随者系统（MLFSs）的预设时间包容控制问题，其中考虑了智能体的避碰和连通性保持。首先，基于估计距离设计了一种有效的带约束指数势场函数（EAPF），以在预设时间实现智能体的抗碰撞和连通性保持。其次，提出了一种基于估计器的分布式控制协议，该协议驱动智能体在预设时间以协作方式实现包容控制。此外，还提出了一种包含避碰项和包容控制项的新型分布式控制协议，该协议使所有跟随者能够在任何预设时间完成避碰和连通性保持，并进入领导者的凸包。最后，利用李雅普诺夫理论对系统的稳定性进行了技术分析，并通过若干仿真验证了所提策略的有效性。
