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基于有向网络的一致性跟踪算法

DOI: 10.16383/j.aas.2015.c140001, PP. 180-185

Keywords: 一致性跟踪,一致性,协同控制,代数Riccati不等式

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Abstract:

?研究了leader有控制输入且followers未知该输入条件下的线性多智能体一致性跟踪问题.提出两种一致性跟踪算法,证明两种算法在leader到followers存在一棵有向生成树且follower间拓扑是有向条件下,网络就能跟踪leader的状态.对于第一种算法,节点根据相邻节点或leader的状态来求解其控制输入,并基于代数Riccati不等式给出连续情形下算法稳定性条件.第二种算法直接利用相邻节点或leader的状态,使followers在上述网络条件下跟踪leader的状态,同样基于代数Riccati不等式给出算法稳定性条件.仿真结果验证了算法的有效性.

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