【摘要】 对多智能体系统的固定时间领导-跟随集群问题进行了研究。利用非光滑技巧,结合一个固定时间稳定性定理和图论,实现了多智能体系统在固定时间内形成领导-跟随集群,得到了稳定时间上界估计式。同时给出了个体之间避免碰撞的一个充分条件,并且刻画了系统达到稳定状态时的群体大小。最后通过仿真模拟验证了理论分析的有效性。更多还原

【Abstract】 This paper focuses on the fixed-time leader-following flocking for nonlinear second-order multi-agent systems. Applying non-smooth techniques, a fixed-time stability theorem and graph theory, the fixed-time leader-following flocking for the multi-agent systems is achieved and the upper bound of the settling time is estimated. Moreover, a sufficient condition of collision avoidance between agents is built. In addition, the upper bound of the group size for the system at a stable state is portrayed. Finally, the effectiveness of the theoretical results is illustrated by simulation.更多还原