【作者】 张世杰； 段广仁； 曹喜滨；

【Author】 Zhang Shi-jie~1,Duan Guang-ren~1,Cao Xi-bin 1.Center for control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001 2.Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150001,China

【机构】 哈尔滨工业大学控制理论与制导技术研究中心； 哈尔滨工业大学卫星技术研究所；

【摘要】 对在循环追踪控制下多个体系统的稳定性进行分析。首先给出了多个体系统在循环追踪控制下保持稳定时满足的条件,指出稳定的多个体系统将收敛到一个特定的点上。接着讨论在不满足稳定性条件时多个体系统的一个特殊的性质,指出在不满足稳定性条件的情况下,如果控制器增益满足一定的条件,那么最终每一个个体将收敛到一条直线上。仿真结果也验证本文理论的正确性。更多还原

【Abstract】 Stability analysis of multiagent systems under linear cyclic pursuit control is studied in this paper.Firstly,the conditions on which multi-agent systems still remain stable under linear cyclic pursuit control are proposed.we show that all the agents converge to a equilibrium point if multi-agent systems are stable.Then,a special property is discussed when the multi-agent systems are unstable.In this case,it can be seen that all the agents converge to a straight line by selecting suitable controller gains even when the system is unstable.Finally,simulation results are given in support of the analytical results.更多还原