| 引用本文: | 李智超,莫立坡,郭少岩.随机多智能体系统的有限时间多目标环绕控制[J].控制理论与应用,2018,35(4):523~530.[点击复制] |
| LI Zhi-chao,MO Li-po,GUO Shao-yan.Finite-time multiple dynamic targets encirclement control of stochastic multi-agent systems[J].Control Theory and Technology,2018,35(4):523~530.[点击复制] |
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| 随机多智能体系统的有限时间多目标环绕控制 |
| Finite-time multiple dynamic targets encirclement control of stochastic multi-agent systems |
| 摘要点击 2320 全文点击 1315 投稿时间：2017-05-27 修订日期：2018-03-30 |
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| DOI编号 10.7641/CTA.2017.70357 |
| 2018,35(4):523-530 |
| 中文关键词 多智能体系统 环绕控制 有限时间 多目标 白噪声 |
| 英文关键词 multi-agent systems encirclement control finite-time multiple targets white noises |
| 基金项目 国家自然科学基金项目(61304155), 北京市委组织部优秀人才项目D类项目(2012D005 003000005)资助. |
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| 中文摘要 |
| 针对随机多智能体系统, 研究了其多目标有限时间环绕控制问题, 其中每个智能体可以跟踪多个目标, 但
是每个目标只能被一个智能体跟踪. 首先, 为每个智能体设计了目标状态的估计器, 证明了在白噪声干扰之下每个
智能体都可以在有限时间内对目标的几何中心位置作出估计. 其次, 为每个智能体设计了环绕半径的估计器, 以及
分布式环绕控制器. 然后, 利用李雅普诺夫有限时间随机稳定性理论, 证明了所有智能体在有限时间内能够对环绕
半径作出估计, 同时可以实现有限时间环绕控制. 最后, 通过仿真验证了结果的有效性和正确性. |
| 英文摘要 |
| This paper addresses the finite-time multiple dynamic targets encirclement control problem of stochastic
multi-agent systems, where each agent can track multiple targets, while each target can be tracked by one agent. Firstly，we
design the target states estimator for each agent，and prove that each agent can estimate the geometric center of the targets
in finite-time under the disturbances of white noise. Secondly, we design the encirclement radius estimator and distributed
encirclement control law for each agent. By Lyapunov finite-time stochastic stability theory, we prove that each agent
can estimate of encirclement radius in finite-time and multi-agent systems can achieve encirclement control in finite-time.
Finally, simulations are provided to illustrate the effectiveness and correctness of the theoretical results. |
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