会话通信模式下的二阶系统队形控制算法  

Second-order formation control based on gossip communication

作　　者：郭静[1] 苏彩红[1] 

机构地区：[1]佛山科学技术学院机械与电气工程学院,广东佛山528000

出　　处：《佛山科学技术学院学报（自然科学版）》2014年第4期73-76,共4页Journal of Foshan University(Natural Science Edition)

摘　　要：研究二阶多智能体系统的队形控制问题。假设平面上一群智能体和一个静止的锚节点,在会话通信模式下仅利用角度信息为每个智能体设计分布式控制器,控制加速度输入使得它们最终形成以固定锚节点为中心的平衡圆周队形,并给出仿真图验证结果。This paper addresses the second-order formation control problem, which the objective is to control a group of agents such that they are evenly spaced on a circular trajectory. It is assumed that there is a fixed anchor in the plane. The group of agents can exchange angle information under the gossip communication scenario. A control algorithm based on local information is proposed for each agent. Simulations results are provided to check validity.

关 键 词：多智能体系统 队形控制 二阶系统 会话通信 角度信息 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]