多智能体系统指定时间双向编队控制  

Appointed-time Bipartite Formation Control for Multi-agent System

作　　者：周媛 刘永芳 马生昌 赵宇 ZHOU Yuan;LIU Yongfang;MA Shengchang;ZHAO Yu(School of Automation,Northwestern Polytechnical University,Xi’an 710129,China)

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《无人系统技术》2021年第3期18-25,共8页Unmanned Systems Technology

基　　金：国家自然科学基金(61973252,61973251)。

摘　　要：多智能体系统协同控制的收敛速率问题是当前系统与控制领域一个热点研究问题。结合指定时间控制思想,以一般线性动力学系统为控制对象,对多智能体系统双向编队问题进行研究。首先,利用庞特里亚金极大值原理,设计了指定时间双向编队控制器,双向编队指的是被分成两组的智能体最终以指定的编队队形、相反的方向进行运动;其次,通过运动规划算法,分析了控制器的指定时间收敛性,即智能体实现期望几何形态所需的时间可由用户任意指定。需要注意的是,控制器仅取决于采样时刻智能体及其邻居的状态,而非实时反馈,这将极大地减少网络通信成本和负担;最后通过仿真实验,实现了多智能体系统在指定时间达成指定的编队构型。所提算法为无人系统的编队飞行提供了潜在的应用。The convergence rate of cooperative control for multi-agent systems is a hot research issue in the field of systems and control.With regard to the bipartite formation control problems for general linear dynamics,the ap-pointed-time control algorithm is introduced to solve such problems.Firstly,by using the Pontryagin’s maximum princi-ple,a class of appointed-time bipartite formation controller is designed.Here,the bipartite formation means that the agents divided into two groups can finally achieve the specified formation configuration and move in an opposite direc-tion to others in another group.Secondly,under the application of the proposed controller,the appointed-time effective-ness of the proposed controller is analyzed through the motion planning algorithm.Compared with existing works on this issue,a main contribution of this paper lies in that the time required for the agent to achieve the desired formation configuration can be specified according to task demands,which is independent of the initial state.It should be noted that the controller in this paper only depends on the states of the agent and its neighbors at the sampling instant,rather than the whole time interval,which greatly reduces the burden of network communication.Finally,by numerical simu-lation,the multi-agent system achieves the desired formation configuration at an appointed-time.The proposed control-ler provides a potential application for formation flight of unmanned systems.

关 键 词：多智能体系统 指定时间控制 双向编队 运动规划 离散采样 有符号图 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]