一阶离散多智能体系统分布式编队跟踪控制  

Distributed Formation Tracking Control of the First-order Discrete Multi-agent System

作　　者：林涛[1] 韩娜妮[1] 刘仰魁[1] 

机构地区：[1]陇东学院电气工程学院,甘肃庆阳745000

出　　处：《电子科技》2013年第6期128-130,156,共4页Electronic Science and Technology

基　　金：陇东学院青年科技创新基金资助项目(XYZK1009)

摘　　要：研究了离散多智能体系统在固定有向拓扑中的分布式编队控制,同时假设此系统跟踪时变参考状态。首先,针对一阶系统设计了控制协议,给出了系统稳定时协议参数需满足的充要条件,仿真结果表明,跟踪误差与采样周期的上限成正比,也证明了所设计协议的有效性。This paper investigates the distributed formation for discrete-time multi-agent systems with a time-va- rying reference state in fixed directed communication topology, by which the agents can be able to track the time-var- ying reference state while maintaining the desired formation. First, the protocol for the first-order system is proposed with the sufficient and necessary condition given for sampling stability, and then the quantitative bound of the track- ing error is studied. It is shown that the ultimate bound of the tracking error is proportional to the sampling period. And the simulation results illustrate the effectiveness of the designed protocols.

关 键 词：多智能体系统 分布式编队控制 一致性协议 离散 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]