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Flocking of Multi-Agent Dynamic Systems with Guaranteed Group Connectivity
  • 时间：0
  • 分类：TP273[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置] TS103[轻工技术与工程—纺织工程;轻工技术与工程—纺织科学与工程]
  • 作者机构：[1]Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
  • 相关基金：The research is supported by the National Natural Science Foundation of China under Grant No. 60504026 and No. 60674041 and the National High Technology Project under Grant No. 2006AA04Z173.
  • 相关项目：基于离散事件系统控制理论的预测调度算法研究
关键词： 连通性, 分布式控制, 多AGENT系统, 植绒花纹, 信息交换, Connectivity, distributed control, flocking, multi-agent system
中文摘要：

这篇论文调查在代理人之中的信息交换被随着时间变化的通讯拓扑学建模的分布式的结队的问题。关于这个问题的以前的研究由假设动态拓扑学总是被连接建立组稳定，它不能被大多数建议分布式的控制法律然而保证。在这篇论文，提取起始的通讯拓扑学的一张必要潜水艇图的一个分布式的算法被介绍。这张潜水艇图盖住通讯拓扑学的所有顶点并且只要起始的通讯拓扑学被连接，被证明被连接。当在这张潜水艇图保存所有边时，一条分布式的控制法律然后被设计追求结队的动议。这样，连接能总是被保存，并且结队仅仅如果多代理人系统的起始的通讯拓扑学被连接，问题因此被解决。

英文摘要：

This paper investigates distributed flocking problem where the information exchange among agents is modeled by the communication topology changing with time. Previous research on this problem establishes group stabilization by assuming that the dynamic topology is connected all the time, which however cannot be guaranteed by most proposed distributed control laws. In this paper, a distributed algorithm to distill a necessary subgraph of the initial communication topology is presented. This subgraph covers all the vertices of the communication topology and is proved to be connected as long as the initial communication topology is connected. A distributed control law is then designed to pursue the flocking motion while preserving all the edges in this subgraph. In this way, connectivity can be preserved all the time, and flocking problem is thus solved only provided the initial communication topology of multi-agent system is connected.

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