S. .. Les, , p.74

. .. Commande-homogène-discrétisée,

, Les travaux présentés dans ce chapitre ont fait l'objet d'un article en revue dans, vol.6

, Si ? < 0 alors il existe ? > 0 tel que l'ensemble {x ? R n : N (x) ? ?h ?1/? } soit globalement asymptotiquement stable

, En effet, bien que le cas du degré positif soit intéressant puisque l'on assure une stabilité locale à l'origine, on peut voir que la taille du domaine d'attraction dépend de la période d'échantillonnage. Sans surprise, le domaine d'attraction diminue lorsque h augmente. En pratique, pour un SMA, cela signifie que les états initiaux des agents doivent tous être, Nous allons nous intéresser au cas du degré négatif (? < 0)

. Dans-le-cas-d&apos;un-degré-négatif, état du système converge sur un ensemble autour de l'origine quel que soit en théorie l'état initial. La taille de l'ensemble de stabilité dépend bien évidement de h et augmente au fur et à mesure que h augmente. C'est la raison pour laquelle on parlera de consensus pratique pour un degré négatif

, ? Les travaux actuels sur le contrôle des SMA s'orientent sur des flottes d'agents hétérogènes, ce qui permettra par exemple de prendre en compte des collaborations entre des drones et des robots

?. ,

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