有向切换网络拓扑下非线性多智能体系统的包含控制

摘要

Distributed containment control problem is investigated for multi-agent systems with inherent nonlinear dynamics under directed and switching topologies.Each agent in the system has the same inherent nonlinear dynamics,and only a subset of followers can obtain information from the considered leaders.By employing algebraic graph theory,nonnegative matrix theory and Lyapunov stability analysis method,sufficient condition is derived to solve the containment control under directed and switching topologies by proposed control protocol.Simulation example is presented to illustrate the effectiveness of the theoretical results.%针对具有本质非线性动态的多智能体系统,研究有向切换网络拓扑下多智能体系统的包含控制.假设系统中的每个智能体具有相同的非线性动态,而且仅有部分跟随者能够获取领导者的信息.利用代数图论、非负矩阵理论和Lyapunov稳定性分析的方法,得到了有向切换网络拓扑下所给协议解决包含控制问题的充分条件.仿真实例验证了理论结果的正确性.