依赖方位角测量的多智能体系统事件触发协同定位  

Bearing-based localization of multi-agent system with event-triggered strategy

作　　者：胡斌斌[1,2] 张海涛 HU Bin-bin;ZHANG Hai-tao(Key Laboratory of Image Processing and Intelligent Control,School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan Hubei 430074,China;State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan Hubei 430074,China)

机构地区：[1]华中科技大学人工智能与自动化学院,图像信息处理与智能控制教育部重点实验室,湖北武汉430074 [2]数字制造装备与技术国家重点实验室,湖北武汉430074

出　　处：《控制理论与应用》2021年第11期1845-1854,共10页Control Theory & Applications

基　　金：Supported by the National Natural Science Foundation of China(51729501,U1713203,U2141235,61803166);the National Natural Science Foundation of Hubei Province(2019CFA005)。

摘　　要：论文提出了一种基于事件的方案来实现三维空间多智能体系统的方位定位.依赖方位角刚度设计了一种事件触发的定位方法,该方法在少数个体方位角已知的前提下,可以对集群网络中所有个体进行定位.为了保障方法的有效性,利用输入到状态的稳定原理,得到了上述闭环控制系统的稳定性条件,并且理论保证Zeno行为不发生.最后,通过二维和三维的数值仿真验证了所提出的多智能体系统事件触发定位控制方案的有效性.This paper develops an event-based scheme to attain bearing-based localization of multi-agent system in arbitrary dimension.Essentially,an event-triggered localization law is designed accordingly to the bearing rigidity,which is to localize all the agents in a static network given the bearings of a subset of agents.The conditions guaranteeing asymptotically stability of the closed-loop MAS governed by the proposed controller are derived with the assistance of input-to-state stable(ISS)principle.Significantly,Zeno behavior is excluded as well.Finally,2-D and 3-D numerical simulations are conducted to substantiate the effectiveness of the proposed event-triggered localization control scheme.

关 键 词：定位 方位角刚度 事件驱动控制 多智能体系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]