具有方向约束的多智能体系统的反一致性研究  

Inverse Consensus of Multi-Agent Systems with Directional Constraints

作　　者：孔祥磊 汪芳琴 钟选明[1] 鲁中轩 KONG Xianglei;WANG Fangqin;ZHONG Xuanming;LU Zhongxuan(Chinese Academy of Space Technology,Beijing 100094,China)

机构地区：[1]中国空间技术研究院,北京100094

出　　处：《空间控制技术与应用》2023年第1期74-81,共8页Aerospace Control and Application

基　　金：国家自然科学基金(41901292)。

摘　　要：研究了具有方向约束的多智能体系统的反一致性问题.首先假设系统中智能体在一维空间服从单向运动.针对一阶积分器模型,给出了一类反一致性协议的设计方法,系统中所有智能体仅仅通过观测其邻近智能体位置状态,自主分布式的决策和协调控制输入,实现了系统中智能体最终静止并在空间中分散,智能体最终状态满足反一致性要求.针对二阶积分器模型,设计了一类包含自身速度测量的反一致性协议,在设计的控制输入下,实现了二阶多智能体系统避碰并最终达到反一致性状态.最后,将系统从一维空间推广到N维空间.假设多智能体系统在N维空间的第k个坐标轴方向受方向约束,针对一阶积分器模型和二阶积分器模型,给出了一类反一致性协议设计方法.在设计的控制输入下,实现了系统在N维空间最终达到反一致状态.最后,采用Python语言,利用数值仿真例子校验了理论结果的正确性.This paper studies the inverse consensus of multi-agent systems with directional constraints. It is assumed that the agents of the multi-agent systems follow unidirectional motion in one-dimensional space. For the first-order integrator model, a control input is designed, under which the inverse consensus is achieved. For the second-order integrator model, a method to design the protocol control is proposed, under which the agents stop and reach a configuration in which every agent is located at a distance no less than the sensing radius from every other agent. Further, the inverse consensus of multi-agent systems in multi-dimensional space is studied. It is assumed that the agents of the multi-agent systems have constraints in a certain direction. For the first-order integrator model and the second-order integrator model, a control input is designed, under which the inverse consensus is achieved. Numerical simulations have demonstrated the effectiveness of the approach proposed.

关 键 词：具有方向约束 反一致性控制 多智能体系统 分布式协调 

分 类 号：V448[航空宇航科学与技术—飞行器设计]