关键词: 协调控制, 有限时间控制, 聚集控制, 非光滑分析

Abstract:

In order to solve finite time rendezvous control problem for multi-agent networks where the dynamics of agents is modeled as a first order integrator, the control scheme is proposed based on the potential energy function. Assuming that only a subset of agents know knowledge of rendezvous objective, distributed nonlinear non-smooth control protocol is proposed based on state information and the potential function method, inspired by the principles of ther-modynamics. The finite time stability analysis is made according to the definitions of differential inclusion and generalized gradient and set-valued Lie derivative and invariance principle of non-smooth analysis so as to obtain the sufficient conditions that network can achieve finite time rendezvous.Finally, simulations are used to illustrate the effectiveness of theoretical results.

Key words: cooperative control, finite-time control, rendezvous control, non-smooth analysis