中文摘要：

针对移动传感器网络在外部干扰下容易发生网络分裂问题,提出基于多智能体蜂拥算法的移动传感器网络协调控制策略。该策略中网络各个节点和相邻节点仅进行速度和位置信息的交换,并构造一个虚拟的领导者节点,网络各节点作为跟随者对领导者的运动轨迹进行跟踪,实现网络拓扑结构连通性的保持。基于图论、Lyapunov稳定性理论和La Salle不变原理对控制协议进行理论分析。仿真实验结果表明,在外部干扰下移动传感器网络在所给控制策略下始终保持网络的连通性。

英文摘要：

Aiming at the problem that the mobile sensor network is easy to be split under external disturbance,the coordination control strategy of mobile sensor network based on the flocking of multi-agent is proposed. By constructing a virtual leader node and each of the nodes in the network exchanging only speed and position information with adjacent nodes,the nodes in the network can follow the path of the leader＇s movement,which can maintain the connectivity of the network topology. Based on graph theory,Lyapunov stability theory and La Salle＇s invariance principle,the control protocol is analyzed theoretically. The simulation results show that the mobile sensor network under external disturbance always maintains the connectivity of the network under the control strategy.