二阶多智能体系统的跟随者-多领导者聚集控制  

Follower-Multileader Aggregation Control of Second-Order Multi-Agent Systems

作　　者：刘学良[1] 胥布工[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2013年第1期8-14,共7页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61174070);教育部高等学校博士学科点专项科研基金资助项目(20110172110033);NSFC-广东联合基金重点资助项目(U0735003);华南理工大学中央高校基本科研业务费专项资金资助项目(2012ZM0101)

摘　　要：针对二阶连续时间多智能体系统的跟随者-多领导者集合聚集控制问题,假设每个领导者的运动速度为同一常数且它们之间没有通信,基于邻居原理,对网络没有通信限制(零通信时延)和有通信时延的情形,分别提出了一个新的控制协议;利用频域分析、矩阵理论和Nyquist稳定性判据,对零通信时延和有通信时延的情形,分别得到所有的跟随者都能够聚集于由多个动态领导者组成的凸多边形区域的充分条件;最后,通过数值仿真验证了文中所提控制协议的有效性和可行性.This paper deals with the follower-muhileader set aggregation control of second-order continuous-time multi-agent systems. In the investigation, it is assumed that the leaders are of the same velocity and cannot receive information from each other, and two new neighbor-based control protocols are proposed to realize the local control of multi-agent networks respectively without communication constraints and with communication delays. Then, by using the frequency-domain analysis, the matrix theory and the Nyquist stability criterion, the sufficient conditions for the aggregation of all followers in a convex polygon region formed by multiple dynamic leaders are derived under the two above-mentioned communication conditions. Finally, numerical simulations are carried out to verify the effectiveness and feasibility of the proposed protocols.

关 键 词：多智能体系统 聚集控制 控制协议 跟随者-多领导者集合 凸多边形区域 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]