二阶有向多智能体网络的可控包含控制 - 控制与决策.pdf

第31 卷 第4 期 控 制 与 决 策 2016 年 4 月 Vol. 31 No. 4 Control and Decision Apr. 2016 文章编号: 1001-0920 (2016) 04-0745-05 DOI: 10.13195/j.kzyjc.2015.0164 二阶有向多智能体网络的可控包含控制 陈世明, 王 培, 赖 强, 裴惠琴 (华东交通大学 电气与电子工程学院，南昌330013) 摘 要: 研究随机给定拓扑结构的二阶有向多智能体网络的可控包含控制问题. 针对当前包含控制研究成果大多没 有考虑多智能体网络领导者和跟随者的可控配置问题, 结合复杂网络可控性理论和二分图最大匹配算法给出满足网 络可控的领导者和跟随者集合, 并为跟随者智能体设计相应的控制协议, 驱使跟随者能够渐近收敛到由多个领导者 构成的静态凸包中, 从而实现网络的可控包含控制. 仿真结果验证了理论分析的正确性. 关键词: 有向网络拓扑；复杂网络可控性；最大匹配；包含控制 中图分类号: TP273 文献标志码: A Controllable containment control of second order directed multi-agent networks CHEN Shi-ming, WANG Pei, LAI Qiang, PEI Hui-qin (School of Electrical and Electronic Engineering，East China Jiaotong University ，Nanchang 330013 ，China. Correspondent ：CHEN Shi-ming，E-mail ：c1977318@) Abstract: The controllable containment control for second-order directed multi-agent networks under given topologies is investigated. For the problem that the controllable configuration issues have not been considered between leaders and followers for most of the results of containment control, the complex network controllability theory and the maximum bipartite graph matching algorithm are combined to determine the leader and follower set meeting the network controllable. By using the designed corresponding control protocol for followers, all followers are driven to converge to the stationary convex hull with the leaders in order to achieve the controllability containment control of the networks. Simulation results show the correctness of the theoretical analysis. Keywords: directed topologies ；controllability of complex network ；maximum matching ；containment control 0 引引引 言