多智能体系统的旋转目标跟踪控制  

Tracking control of multi-agent systems with a rotating leader

作　　者：陈磊[1] 秦开宇[1] 

机构地区：[1]电子科技大学航空航天学院,成都611731

出　　处：《控制与决策》2017年第5期943-946,共4页Control and Decision

基　　金：高等学校博士学科点专项科研基金项目(20130185110023)

摘　　要：介绍对一个旋转目标实现跟踪控制的多智能体系统协调控制问题.提出一个包含领航者及多个跟随者的多智能体系统,该领航者是一个进行匀速圆周运动的智能体,为实现对领航者的跟踪,设计一种能实现旋转跟踪控制的协议,并通过李雅普诺夫方法证明协议能实现旋转目标的跟踪控制.最后,通过数值仿真实验验证了所设计的协议的有效性.A tracking control problem for the multi-agent systems with a rotating leader is studied. The system is a second-order multi-agent system, including followers and a leader, and the leader is an uniform circular motion agent. A control protocol is proposed for the rotating leader to track such a leader, by using the Lyapunov approach, it is proved that all the agents can follow the leader. Finally, some simulation results show the effectiveness of the proposed protocol.

关 键 词：多智能体系统 旋转目标 跟踪控制 二阶控制协议 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]