二阶多智能体系统的环形编队控制研究  

Ring Formation Control of Second-Order Multi-Agent Systems

作　　者：王强[1] 纪志坚[1] 刘开恩[1] 

机构地区：[1]青岛大学自动化工程学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2015年第4期37-42,52,共7页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：国家自然科学基金资助项目(61374062);山东省杰出青年科学基金资助项目(JQ201419)

摘　　要：针对二阶多智能体系统的环形编队控制问题,本文采用动力学模型为二阶积分器形式的控制输入方法,并采用位置信息和速度信息来设计控制率,通过一系列的证明与推导给出了二阶多智能体系统环形编队实现的充分条件。假设所有的智能体始终都在一固定的圆环上运动,并且每个智能体只能感知到其前后2个紧邻智能体的位置和速度信息,同时利用邻居的信息,对每个智能体设计分布式控制率,再通过数值算例对给出的结论和定理进行计算和验证。验证结果表明,所提控制策略可以使多智能体系统形成给定期望环形编队。该设计为多智能体系统其它方面的研究提供了新思路,同时也为该理论应用到将来的机器人编队控制中指明了方向。For the second-order ring formation of multi-agent systems control problems, we use second-or- der kinetic model integrator forms of control input methods, and use location information and speed information to design control law. Through a series of proof and the derivation, the sufficient conditions for second-order multi-agent system are given to achieve ring formation. Assuming that all of the intelligence body always in motion on a fixed ring, and each agent can only perceive immediately be{ore and after the two-agent position and velocity information. While taking advantage of neighbor information, we design for each agent distributed control law, and then calculate and verifythe results by numerical examples. Verification results show that the proposed control strategy allows the formation of multi-agent system given the desired ring formation. This workprovides a new idea for studying other aspects of multi-agent system, also for the application of the theory to the future robot formation control in the direction.

关 键 词：二阶多智能体系统 编队控制 环形编队 代数图 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]