改进连通性保持的二阶多智能体编队控制  

Formation Control of Second-Order Multi-agent Systems with Improved Connectivity Preservation

作　　者：周瑞敏 徐鹏飞 司文杰 周志青[1] 耿则勋 ZHOU Ruimin;XU Pengfei;SI Wenjie;ZHOU Zhiqing;GENG Zexun(Pingdingshan University,Pingdingshan 467000,China;Henan University of Urban Construction,Pingdingshan 467000,China;Information Engineering University,Zhengzhou 450000,China)

机构地区：[1]平顶山学院,河南平顶山467000 [2]河南城建学院,河南平顶山467000 [3]信息工程大学,郑州450000

出　　处：《电光与控制》2022年第6期97-101,107,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61803145);河南省教育厅项目(21A520034);河南省科技计划项目(212102310301)。

摘　　要：针对目前基于距离的连通性保持方法过于保守的问题,提出了一种改进连通性保持的二阶多智能体主从式编队控制方法。首先,考虑部分智能体可接收到领航者信息,设计了基于期望偏置位置的分布式编队控制协议。其次,提出了同时利用智能体位置和速度信息的连通性趋势判断方法,并设计了基于相对速度和距离的自适应动作函数;与传统基于人工势场的连通性保持方法相比,所提方法能够准确判断智能体间连通性变化趋势,同时减少对编队的不利影响。最后,通过运用图论给出了系统稳定性的充分条件,并通过数值仿真和对比实验验证了所提方法的优越性。For the issue that the distance-based approaches of connectivity preservation are too conservative, a leader-follower formation control approach is proposed for second-order multi-agent systems with improved connectivity preservation.Firstly,considering that not all followers can receive information from the leader,a desired offset position based distributed formation control protocol is designed.Next,by utilizing the position and velocity of the agents simultaneously,a judgment method of connectivity trend is proposed.Furthermore,an adaptive action function based on relative velocity and distance is designed.Compared with traditional connectivity preservation methods based on artificial potential field,the proposed method can accurately determine the trend of connectivity between the agents,and reduce the adverse effects on the formation.Finally,the sufficient conditions for the stability of the system are given by using graph theory,and the superiority of the proposed method is verified through numerical simulation and comparative experiment.

关 键 词：二阶多智能体 编队控制 人工势场 连通性保持 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]