论文提出了一种基于事件的方案来实现三维空间多智能体系统的方位定位.依赖方位角刚度设计了一种事件触发的定位方法,该方法在少数个体方位角已知的前提下,可以对集群网络中所有个体进行定位.为了保障方法的有效性,利用输入到状态的稳定原理,得到了上述闭环控制系统的稳定性条件,并且理论保证Zeno行为不发生.最后,通过二维和三维的数值仿真验证了所提出的多智能体系统事件触发定位控制方案的有效性.
This paper develops an event-based scheme to attain bearing-based localization of multi-agent system in arbitrary dimension. Essentially, an event-triggered localization law is designed accordingly to the bearing rigidity, which is to localize all the agents in a static network given the bearings of a subset of agents. The conditions guaranteeing asymptotically stability of the closed-loop MAS governed by the proposed controller are derived with the assistance of input-to-state stable (ISS) principle. Significantly, Zeno behavior is excluded as well. Finally, 2-D and 3-D numerical simulations are conducted to substantiate the effectiveness of the proposed event-triggered localization control scheme.