基于复位控制的多智能体系统跟踪控制  

Tracking Control of Multi-agent Systems Based on Reset Control

作　　者：黄恩 成毅 胡文峰[1] HUANG En;CHENG Yi;HU Wen-feng(School of Automation,Central South University,Changsha 410083,China)

机构地区：[1]中南大学自动化学院,湖南长沙410083

出　　处：《控制工程》2022年第11期2097-2102,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(61803392,61890932)。

摘　　要：针对多智能体系统的目标跟踪控制问题,提出了一种基于复位控制策略的分布式目标跟踪算法。该算法是由传统的比例积分比较器和克莱格积分器组成,极大地提高了多智能体系统的跟踪速度。首先,在传统静态反馈控制算法的基础上,加入克莱格积分器作为复位项,构成复位控制算法;然后,通过构造Lyapunov函数证明了该闭环系统的稳定性,并定量地比较了传统静态算法和复位算法下的目标追踪速度;最后,通过仿真实例证明了所提基于复位控制策略的目标跟踪算法的有效性。Aiming at the target tracking control problem in the multi-agent system, a distributed target tracking algorithm based on reset control strategy is proposed in this paper. The algorithm consists of a proportional integral(PI) comparator and a Clegg integrator(CI), which greatly enhances the tracking speed of the multi-agent system. First, based on the traditional static feedback control algorithm, the Clegg integrator is introduced as the reset term, which constitutes the reset control algorithm. Next, the stability of the closed-loop system is proved by constructing a Lyapunov function. Subsequently, the target tracking speed of the traditional static algorithm and the reset algorithm is quantitatively compared. Finally, the effectiveness of the proposed target tracking algorithm based on reset control strategy is verified by a simulation example.

关 键 词：多智能体系统 目标跟踪 复位控制 LYAPUNOV方法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]