Event-triggered encirclement control of multi-agent systems with bearing rigidity

查看全文 作　　者：Yangguang [1]YU;Zhiwen [1]ZENG;Zhongkui [2]LI;Xiangke [1]WANG;Lincheng [1]SHEN

机构地区：[1]College of Mechatronics & Automation, National University of Defense Technology;[2]State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering,College of Engineering, Peking University

出　　处：《Science China(Information Sciences)》索引2017年第60卷第11期,共18页

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61473005, 61403406) 摘　　要：In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads,the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability(ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated. 关键词：事件触发机制多智能体系统触发控制刚度理论李雅普诺夫方法轴承刚度小增益理论状态稳定性

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Event-triggered encirclement control of multi-agent systems with bearing rigidity

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