有向网络下非线性多智能体系统的协调跟踪  

Coordinated tracking for nonlinear multi-agent systems under directed networks

作　　者：马广富[1] 梅杰[1] 

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《控制与决策》2011年第12期1861-1864,1871,共5页Control and Decision

基　　金：国家自然科学基金项目(61004072;61174200)

摘　　要：基于一致性理论,在在有向拓扑结构下研究非线性多智能体系统的协调跟踪控制问题.考虑智能体动力学模型为一般且仅满足Lipschitz条件的非线性系统,在仅有部分跟随智能体能获取领航智能体信息的情形下,当领航智能体与跟随智能体之间的拓扑结构具有有向生成树,即存在领航智能体到所有跟随智能体的有向路径时,所设计的分布式控制律可实现所有跟随智能体对领航智能体的跟踪,并指出该拓扑结构是系统实现跟踪的一个必要条件.最后,仿真实验验证了所设计控制算法的有效性.This paper studies a distributed coordinated tracking problem for nonlinear multi-agent systems under a directed topology based on consensus theory. The objective is for a team of followers modeled by nonlinear systems to track a leader under the constrains that only a subset of the followers can receive information of the leader. If the directed graph associated with the leader and the followers contains a directed spanning tree, with the proposed control algorithm, all followers can track the leader asymptotically. And the conditions of the topology is necessary to achieve the objective. Simulation results show the effectiveness of the proposed control algorithm.

关 键 词：多智能体系统 协调跟踪 分布式控制 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]