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基于动态网络一致性理论,研究外部向量场变化情况下的分布式多智能体的队形保持和跟踪控制问题。利用邻近多智能体间共享的信息,智能体以一致协商的合作方式既控制自身运动轨迹,同时又保持了一定的队形。针对多智能体之间形成的最近邻耦合网络拓扑进行分析后,提出了多智能体一致性动态控制律的设计方法,可方便地对系统的极点进行配置。还提出了一种利用分散的队形控制分解中心领航者作用的方法,并给出了系统稳定性的条件。研究结果显示,队形稳定性问题仅受到通讯拓扑结构的影响,可以通过分解降阶的系统解决,而向量场的特性只影响系统跟踪性能。仿真例子显示了方法的正确性。
Based on the theory of dynamic network conformance, the problem of formation keeping and tracking control of distributed multi-agent under the circumstance of external vector field is studied. By using the information shared by the neighboring multi-agents, the agent can control its own trajectory by the unanimous negotiation and cooperation while maintaining a certain formation. After analyzing the network topology of the nearest neighbor coupling formed among multi-agents, a design method of multi-agent dynamic control law is proposed, which can conveniently configure the poles of the system. A method of controlling the role of leader in decomposing centers by using scattered formations is also proposed and the conditions of system stability are given. The research results show that the formation stability problem is only affected by the communication topology, which can be solved by decomposing the reduced order system. However, the characteristics of the vector field only affect the system tracking performance. The simulation example shows the correctness of the method.