Preserving Connectivity In Rendezvous In Nonlinear Network Topology With Finite Time Control

In recent years, with the rapid development of wireless technology and automation communication networks, multi-agent coordination control as a heated issue in the sciences of complexity and control engineering in the field of frontier are interested by researchers. As a typical problem of multi-agent coordination control with networks, rendezvous has a great application potential in military as well as civilian, which also has important research value and application prospect.In this paper, the multi-agent network system rendezvous with finite time control is researched by algebraic graph theory, matrix theory, as well as methods for nonsmooth analysis.At first, preserving connectivity in rendezvous with finite time control problem is investigated for multi-agent networks. Information gathered control framework is proposed, then the static, dynamic and output feedback of the distributed nonlinear control protocol are designed respectively on the basis of this framework. By using the concept of differential inclusion defines error dynamic network, the problem of finite time rendezvous control in the multi-agent network is transformed into dynamic network error of finite time convergence problem. The proposed control scheme can be rendezvous in finite time for multi-agent networks is concluded by using the principle of invariant sets of non-smooth analysis. Based on the energy function, it is proved that the system can preserve connectivity.Then, simulations are used to illustrate the effectiveness of theoretical results.And then preserving connectivity rendezvous in finite time with bounded input control problem is investigated for multi-agent networks. The control input is bounded by introducing the constraint function. It proved that the proposed control protocol which based on defined dynamic network error can make system rendezvous in finite time with bounded input while preserving connectivity. By applying the principle of invariant sets of nonsmooth analysis,proved that the proposed control scheme allows the system in a limited period of time to achieve a steady state. Then, simulations are used to illustrate the correctness of theoretical results.At last, preserving connectivity in rendezvous with finite time and constrained energy control problem is investigated for multi-agent networks. Each agent’s energy would not lower than the given threshold. An energy aware aggregation control protocol is proposed,under the influence of this control protocol, all agents in network would move toward the position of the agent which having a minimum of energy in finite time. And The necessary condition for rendezvous is given by the viewpoint of energy. Then based on defined dynamic network error, applying the principle of invariant sets of nonsmooth analysis, it proved that the proposed control scheme allows the system in a limited period of time to achieve a steady state. Finally, simulations are used to illustrate the effectiveness of theoretical results.