摘要
Nonlinearconsensusprotocolsfordynamicdirectednetworksofmulti-agentsystemswithfixedandswitchingtopologiesareinvestigatedseparatelyinthispaper.Basedonthecentremanifoldreductiontechnique,nonlinearconsensusprotocolsarepresented.Weprovethatagroupofagentscanreachaβ-consensus,thevalueofwhichisthegroupdecisionvaluevaryingfromtheminimumandthemaximumvaluesoftheinitialstatesoftheagents.Moreover,wederivetheconditionstoguaranteethatalltheagentsreachaβ-consensusonadesiredgroupdecisionvalue.Finally,asimulationstudyconcerningtheverticalalignmentmanoeuvereofateamofunmannedairvehiclesisperformed.Simulationresultsshowthatthenonlinearconsensusprotocolsproposedaremoreeffectivethanthelinearprotocolsfortheformationcontroloftheagentsandtheyareanimprovementoverexistingprotocols.
出版日期
2009年08月18日（中国期刊网平台首次上网日期，不代表论文的发表时间）
