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Flocking Analysis and Comparison in Simplex Multi-Agent Systems under Matrix-Weighting H?lder Norms

机译：矩阵加权Hlder范数下单纯形多Agent系统的植绒分析与比较

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摘要

Regarding flocking filing specification in what we term simplex multi-agent systems that are driven only with local position measurements and corresponding speed estimates via distributed observers, together with compatible matrix-weighting Hvlder norms, a class of generalized artificial potential functions (GAPF) are defined and flocking control algorithms are discussed in this paper. Matrix-weighting Hvlder norms have more elaborate and subtle geometrical and algebraic structure and significance in their gradients and time derivatives. It is shown in this study that if the GAPE is defined based on matrix-weighting Hvlder norms, these mathematical merits can be exploited easily for manipulating formation convergence and motion tendencies such as deformation (including expansion and shrinkage) and direction manipulation (including reversing and rotating) when flocking filings in accordance with the Reynolds' rules are considered. Numerical illustrations are sketched to show efficacy of the suggested control algorithms.
机译：关于我们所谓的单纯多代理系统中的植绒归档规范，该系统仅通过分布式观测器通过局部位置测量和相应的速度估算来驱动，并与兼容的矩阵加权Hvlder规范一起，定义了一类广义人工势函数（GAPF）本文讨论了植绒控制算法。矩阵加权Hvlder范数具有更精细和微妙的几何和代数结构，并且在它们的梯度和时间导数中也具有重要意义。该研究表明，如果GAPE是基于矩阵加权Hvlder规范定义的，则这些数学优点可以轻松地用于操纵地层收敛和运动趋势，例如变形（包括膨胀和收缩）和方向操纵（包括反向和反向）。旋转）时，应考虑按照雷诺兹的规则将植绒文件植绒。绘制数字插图以显示建议的控制算法的有效性。

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