非线性多智能体系统的分布式编队控制  

Distributed formation control for the nonlinear multi-agent system

作　　者：连文瑜 刘佳[1,2] 张运喜[1,2] 李伟勋 LIAN Wen-yu;LIU Jia;ZHANG Yun-xi;LI Wei-xun(Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin University of Technology and Education Tianjin 300222, China;School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China;School of Science, Tianjin University of Technology and Education, Tianjin 300222, China)

机构地区：[1]天津职业技术师范大学天津市信息传感与智能控制重点实验室,天津300222 [2]天津职业技术师范大学自动化与电气工程学院,天津300222 [3]天津职业技术师范大学理学院,天津300222

出　　处：《天津职业技术师范大学学报》2018年第2期44-48,53,共6页Journal of Tianjin University of Technology and Education

基　　金：国家自然科学基金资助项目(61703307);天津市应用基础与前沿技术研究计划青年项目(15JCQNJC04200);天津市高等学校科技发展基金资助项目(JWK1614);天津职业技术师范大学科研启动基金资助项目(KYQD14032)

摘　　要：根据一致性协议,设计了多智能体系统的分布式编队控制算法,运用Lyapunov函数理论及模型转换分析了多智能系统的稳定性,以线性矩阵不等式的方法给出了多智能体系统实现编队控制稳定性的充分条件,并通过数值仿真验证了该理论的有效性。According to the consensus protocol, a distributed formation control algorithm for multi-agent system is designed. The stability of the system is analyzed by Lyapunov function theory and model transformation. The sufficient condition for the stability of a multi-agent system to achieve formation control is given by means of linear matrix inequality, and the validity of the theory is verified by numerical simulation.

关 键 词：多智能体系统 非线性系统 分布式编队控制 LYAPUNOV函数 线性矩阵不等式方法 

分 类 号：O231.2[理学—运筹学与控制论]