针对二阶连续时间多智能体系统的跟随者-多领导者集合聚集控制问题,假设每个领导者的运动速度为同一常数且它们之间没有通信,基于邻居原理,对网络没有通信限制(零通信时延)和有通信时延的情形,分别提出了一个新的控制协议;利用频域分析、矩阵理论和Nyquist 稳定性判据,对零通信时延和有通信时延的情形,分别得到所有的跟随者都能够聚集于由多个动态领导者组成的凸多边形区域的充分条件;最后,通过数值仿真验证了文中所提控制协议的有效性和可行性.

This paper deals with the follower-multileader set aggregation control of second-order continuous-timemulti-agent systems. In the investigation, it is assumed that the leaders are of the same velocity and cannot receiveinformation from each other, and two new neighbor-based control protocols are proposed to realize the local controlof multi-agent networks respectively without communication constraints and with communication delays. Then, byusing the frequency-domain analysis, the matrix theory and the Nyquist stability criterion, the sufficient conditionsfor the aggregation of all followers in a convex polygon region formed by multiple dynamic leaders are derived underthe two above-mentioned communication conditions. Finally, numerical simulations are carried out to verify theeffectiveness and feasibility of the proposed protocols.