分布式离散多智能体系统在固定和切换拓扑下的编队控制  

Distributed discrete-time formation control of multi-agent systems under fixed and switching topologies

作　　者：罗小元[1] 李旭[1] 李绍宝[1] 关新平[1] 

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004

出　　处：《控制与决策》2013年第12期1869-1873,共5页Control and Decision

基　　金：国家973计划项目(2010CB731800);国家自然科学基金项目(61074065;61375105);河北省自然科学基金项目(F2012203119)

摘　　要：研究多智能体系统在分布式采样控制下固定拓扑和时变通信拓扑时的追踪和编队问题.首先分析目标系统在没有输入时的稳定性;然后分别给出在固定和时变通信拓扑下使各智能体完成追踪和编队的控制协议,并给出了系统稳定时采样间隔需满足条件的充分性和必要性证明;最后通过仿真研究验证了所提出算法的有效性.The formation and tracking problem for distribute sampled multi-agent systems under fixed and switching topologies is investigated. Firstly, the stability of the system without inputs is analyzed. Then, an algorithm is proposed under fixed and switching topologies respectively, and the sufficient and necessary conditions are presented to determine the campling interval of maltalning the stability of the system. Finally, some simulations illustrate the effictiveness of the proposed algorithms.

关 键 词：多智能体系统 采样 分布式编队控制 固定和切换拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]