摘要本文主要研究了连续时间异构多智能体系统在输入受非凸约束下的一致性问题.基于每个智能体可以获得的局部信息,利用压缩算子为每个智能体设计了分布式控制器,该控制器可以保证每个智能体的控制输入被约束在相应的非凸约束集之中.通过一个线性变换,首先将闭环系统变为一个易于处理的等价系统.然后,利用Metzler矩阵理论,证明了若联合通信拓扑具有有向生成树,则异构多智能体系统可以在输入受非凸约束的条件下实现一致.最后,通过仿真实验验证了理论的正确性. | | 服务 | | | 加入引用管理器 | | E-mail Alert | | RSS | 收稿日期: 2019-03-04 | | 基金资助:国家自然科学基金(No.61973329)资助项目,北京市自然科学基金(No.Z180005)资助项目和北京市教委一般项目(No.KM201910011007;PXM2019_014213_000007)资助. |
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