针对随机多智能体系统,研究了其多目标有限时间环绕控制问题,其中每个智能体可以跟踪多个目标,但是每个目标只能被一个智能体跟踪.首先,为每个智能体设计了目标状态的估计器,证明了在白噪声干扰之下每个智能体都可以在有限时间内对目标的几何中心位置作出估计.其次,为每个智能体设计了环绕半径的估计器,以及分布式环绕控制器.然后,利用李雅普诺夫有限时间随机稳定性理论,证明了所有智能体在有限时间内能够对环绕半径作出估计,同时可以实现有限时间环绕控制.最后,通过仿真验证了结果的有效性和正确性.%This paper addresses the finite-time multiple dynamic targets encirclement control problem of stochastic multi-agent systems,where each agent can track multiple targets,while each target can be tracked by one agent.Firstly,we design the target states estimator for each agent,and prove that each agent can estimate the geometric center of the targets in finite-time under the disturbances of white noise.Secondly,we design the encirclement radius estimator and distributed encirclement control law for each agent. By Lyapunov finite-time stochastic stability theory, we prove that each agent can estimate of encirclement radius in finite-time and multi-agent systems can achieve encirclement control in finite-time. Finally,simulations are provided to illustrate the effectiveness and correctness of the theoretical results.
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