陕西科技大学电气与控制工程学院, 西安 710000
针对多智能体系统在形成编队的过程中存在相互碰撞、通信中断和外部干扰的问题, 考虑了具有避碰和保持系统连通的二阶非线性多智能体鲁棒编队控制问题。基于人工势场法设计了具有保持系统连通的多智能体避碰算法, 并利用分布式控制法和共识理论设计了多智能体鲁棒编队控制律, 从而使得多智能体系统准确地实现编队, 避免碰撞和保持系统连通。利用李雅普诺夫稳定性理论和线性矩阵不等式证明了系统的稳定性和跟踪误差的收敛性。通过数值仿真实例验证了所提编队控制律的有效性。
多智能体系统 非线性 人工势场 避碰 连通性保持 multi-agent systems nonlinear artificial potential field collision avoidance connection preservation
Author Affiliations
Abstract
Key Laboratory of Photo-Electronic Material, Ningbo University, Ningbo 315211, China
Glass ceramics Ba2LaF7:xDy3+ are obtained through the conventional melt-quenching technique, and their luminescent properties are investigated. Under 350 nm excitation, the emission spectra consists of a strong blue-yellow band as well as a weak red emission centered at 660 nm, which are attributed to the F9/24→H15/26, F9/24→H13/26 and F9/24→H11/26 transitions of the Dy3+ ion, respectively. The corresponding Commission Internationale de L’Eclairage (CIE) chromaticity coordinate for a sample of 2 mol.% Dy2O3 after being heat-treated at 690°C is (0.313, 0.328). It is concluded that the formed materials may have the possibility of applications for white light-emitting diodes (LEDs).
160.2540 Fluorescent and luminescent materials 160.4760 Optical properties 160.5690 Rare-earth-doped materials Chinese Optics Letters
2015, 13(9): 091601
