Consensus and formation control of discrete-time multi-agent systems  

作　　者：王婧 年晓红 王海波 

机构地区：[1]School of Information Science and Engineering,Central South University

出　　处：《Journal of Central South University》2011年第4期1161-1168,共8页中南大学学报（英文版）

基　　金：Projects(60474029,60774045,60604005) supported by the National Natural Science Foundation of China;Project supported by the Graduate Degree Thesis Innovation Foundation of Central South University,China

摘　　要：Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.Consensus problems for discrete-time multi-agent systems were focused on.In order to design effective consensus protocols,which were aimed at ensuring that the concerned states of agents converged to a common value,a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory.For discrete-time multi-agent systems with desired trajectory,trajectory tracking and formation control problems were studied.The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory.For a type of formation problem with fixed formation structure,the formation structure set was introduced.According to the formation structure set,each agent can track its individual desired trajectory.Finally,simulations were provided to demonstrate the effectiveness of the theoretical results.The numerical results show that the states of agents converge to zero with consensus protocol,which is said to achieve a consensus asymptotically.In addition,through designing appropriate trajectory controllers,the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.

关 键 词：multi-agent system CONSENSUS trajectory tracking FORMATION 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]