Virtual neighbor based connectivity preserving of multi-agent systems with bounded control inputs in the presence of unreliable communication links

被引：54

作者：

Fan, Yuan ^{[1
]}

Liu, Lu ^{[2
]}

Feng, Gang ^{[2
]}

Song, Cheng ^{[3
]}

Wang, Yong ^{[4
]}

机构：

[1] Anhui Univ, Sch Elect Engn & Automat, Hefei 230039, Peoples R China

[2] City Univ Hong Kong, Dept Mech & Biomed Engn, Kowloon, Hong Kong, Peoples R China

[3] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

[4] Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China

来源：

AUTOMATICA | 2013年 / 49卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Multi-agent systems; Connectivity control; Communication failure; Bounded control input; MOBILE AUTONOMOUS AGENTS; CONSENSUS; NETWORKS; COORDINATION; STRATEGIES; ROBOTS; GRAPH;

D O I：

10.1016/j.automatica.2013.02.030

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work the connectivity preserving problem of multiple agents with limited communication ranges in the context of rendezvous tasks has been investigated. The communication among agents is considered to be unreliable and the control inputs of agents are required to be bounded. Based on the explicitly defined virtual neighbors, the proximity graph connectivity of the agent group has been preserved. Moreover, by using the constraint function approach, the control inputs are guaranteed to be bounded, which can be easily implemented in practice. It is proved that the proposed control law can not only ensure union connectivity of the underlying communication graph, but also drive the agents to rendezvous. The effectiveness of the control law is illustrated by numerical examples. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：1261 / 1267

页数：7

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