Method for controlling distributed average tracking of linear differential inclusion multi-agent systems
A multi-agent system, distributed averaging technology, applied in the field of multi-agent systems
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[0053] The following examples describe the present invention in detail.
[0054] The specific steps of the distributed average tracking control method of the linear differential-containing multi-agent system of the present invention are as follows:
[0055] Step 101: Determine the number of nodes N, randomly construct an undirected connected network topology graph containing N nodes, and obtain the adjacency matrix, incidence matrix and Laplacian matrix of the graph, referring to formula (1);
[0056] Step 102: Set the initial state of each node and the initial value of the reference signal. The initial state and the initial reference signal may be random, referring to formula (2);
[0057] Step 103: Construct the dynamic equation of the linear differential containing system, set the system matrix, and solve the system parameters, referring to formulas (3), (4) and (5);
[0058] Step 104: Set the communication mode of the node so that it can only communicate with neighbor nodes, fully e...
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