多Lagrange航行体在量化及通信时延约束下的集结

针对量化和通信时延约束下多Lagrange航行体的集结问题进行了研究，提出了一种与模型相关的右边不连续控制算法，设计了一个均匀量化器，并运用图论、矩阵理论以及实用稳定性理论，验证控制器的稳定性。研究结果表明：多航行体可以在量化和通信时延影响的无向通信图下，实现有误差界的集结。基于MATLAB软件进行的数值仿真实验，证明了算法的有效性。
For the rendezvous problem of the Lagrange vehicles with quantized data exchange and communication delay, a model-dependent and discontinuous right-hand side control algorithm was proposed, and a uniform quantizer was designed. The stability of controller was considered by using the graph, matrix theory, and the practical stability theory. It was shown that the rendezvous with error bound is rigorously proven in an undirected topology via quantized data exchange and communication delay. The numerical example based on MATLAB software also verifies the effectiveness of the algorithms.