Energy-Efficient Distributed Formation Control of Sampled-Data Multiagent Systems With Packet Losses
研究了采样数据和随机数据包丢失下多智能体系统的节能编队控制问题，设计了分布式控制律并给出了编队控制的充分条件，还提出了最小允许传输能量的搜索方法。
This article investigates an energy-efficient formation control problem for multiagent systems with sampled data and random packet losses. A Bernoulli stochastic variable is used to describe packet losses, which is defined relative to the transmission energy consumed by antennas. A distributed sampled-data formation control law is designed and some analytic sufficient conditions on the formation control are derived. It is revealed that the sampling period, control parameters, network topology, as well as the transmission energy used by sensors impose inherent limitations in achieving the formation. Also, a method for searching the minimum allowable transmission energy is presented. Finally, numerical simulations are shown for illustration and verification.