具有动态拓扑有领航者的多智能体群集运动控制  

Flocking control of dynamic topology-based multiple motion agents with a leader

作　　者：吴正平[1] 俞辉[2] 王仁明[1] 

机构地区：[1]三峡大学电气信息学院,湖北宜昌443002 [2]三峡大学理学院,湖北宜昌443002

出　　处：《华中科技大学学报（自然科学版）》2008年第10期29-31,36,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：湖北省教育厅重点资助项目(D20081306);湖北省自然科学基金资助项目(2007ABA361);三峡大学博士基金资助项目(20071203)

摘　　要：对具有二次积分的动态多移动智能体在动态拓扑下跟随领航者取得群集运动编队进行了研究.引入了光滑的邻接矩阵以及光滑的势场函数,提出了多移动智能体群集运动的光滑控制器设计方法,运用现有群集运动理论和经典的李雅普诺夫稳定性理论,证明了多移动智能体系统群集运动的稳定性.分析表明:智能体网络在切换的情况下,该方案设计得到的控制输出仍然是光滑的,最终智能体群在领航者的带领下取得群集运动.计算机仿真实例验证了所得结论.Multiple mobile agents with double integrator dynamics following a leader to achieve flocking motion formation for switching topology were studied. Smooth adjacency matrix and smooth po tential function were introduced. Smooth controller design method for flocking motion of multiple agents is proposed. The flocking stability was proved by existed theory of flocking of mobile agents and classical Lyapunov theory. The control output of this scheme is smooth even as the agent network is switching and it can make all the agents move with a flocking. Eventually, simulation example is given and the main result is verified.

关 键 词：多移动智能体系统 群集 领航者 动态拓扑结构 图论 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]