Event-triggered encirclement control of multi-agent systems with bearing rigidity
Event-triggered encirclement control of multi-agent systems with bearing rigidity作者机构：College of Mechatronics & Automation National University of Defense Technology State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringCollege of Engineering Peking University
出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))
年 卷 期：2017年第60卷第11期
页 面：91-108页
核心收录：
学科分类：12[管理学] 0808[工学-电气工程] 07[理学] 08[工学] 071102[理学-系统分析与集成] 0810[工学-信息与通信工程] 0711[理学-系统科学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 0835[工学-软件工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 081103[工学-系统工程]
基 金：supported by National Natural Science Foundation of China (Grant Nos. 61473005 61403406)
主 题：encirclement control event-triggered multi-agent system bearing rigidity
摘 要：In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads,the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability(ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated.
同方期刊数据库