论文标题
动态主动平均共识及其在控制控制中的应用
Dynamic Active Average Consensus and its Application in Containment Control
论文作者
论文摘要
本文提出了一种连续的动态活动加权平均共识算法，其中代理可以根据访问参考输入的能力在主动模式和被动模式之间交替。目的是使所有活性和被动的代理都能够跟踪活性剂的参考输入的加权平均值。该算法被建模为开关线性系统，考虑到代理的恒定恒定访问参考信号的零件，并可能通过代理的恒定重量来仔细研究其收敛属性。我们还研究了该算法的离散时间实现。接下来，我们展示如何将一组追随者跟踪一组观察到的领导者的凸面壳体，可以作为主动平均共识问题进行施加，并通过我们提出的动态活动平均共识算法有效地解决。数值示例证明了我们的结果。
This paper proposes a continuous-time dynamic active weighted average consensus algorithm in which the agents can alternate between active and passive modes depending on their ability to access to their reference input. The objective is to enable all the agents, both active and passive, to track the weighted average of the reference inputs of the active agents. The algorithm is modeled as a switched linear system whose convergence properties are carefully studied considering the agents' piece-wise constant access to the reference signals and possible piece-wise constant weights of the agents. We also study the discrete-time implementation of this algorithm. Next, we show how a containment control problem, in which a group of followers should track the convex hull of a set of observed leaders, can be cast as an active average consensus problem, and solved efficiently by our proposed dynamic active average consensus algorithm. Numerical examples demonstrate our results.
