异质多智能体系统的合围控制  

Enclosing control of heterogeneous multi-agent systems

作　　者：贾亚鹏 赵琦 郑元世 JIA Ya-peng;ZHAO Qi;ZHENG Yuan-shi(School of Mechanical and Electrical Engineering,Xidian University,Xi’an 710071,China;College of Big Data,Qingdao University of Science and Technology,Qingdao 266061,China)

机构地区：[1]西安电子科技大学机电工程学院,西安710071 [2]青岛科技大学大数据学院,山东青岛266061

出　　处：《控制与决策》2024年第7期2267-2274,共8页Control and Decision

基　　金：国家自然科学基金项目(62273267);陕西省杰出青年科学基金项目(2022JC-46)。

摘　　要：在固定有向拓扑下,研究由一阶与二阶动力学智能体组成的异质多智能体系统的合围控制问题.首先,分别针对系统内同时包含一阶动力学领航者和二阶动力学跟随者、二阶动力学领航者和一阶动力学跟随者的两种情况,共给出4种有效的控制协议;其次,综合利用代数图论、矩阵理论和稳定性分析工具,通过系统变换方法或构建误差向量法得到上述两类异质多智能体系统能够实现合围控制的判据条件;最后,通过仿真进一步验证所提出协议的有效性.We investigate the enclosing control problem of heterogeneous multi-agent systems composed of first-order and second-order dynamical agents in fixed directed topologies.Firstly,four effective control protocols are proposed for the two cases in which the system contains both first-order dynamical leaders and second-order dynamical followers,second-order dynamical leaders and first-order dynamical followers,respectively.Then,by using algebraic graph theory,matrix theory and stability analysis tools,the criteria for the above two types of heterogeneous multi-agent systems to achieve enclosing control are obtained through the system transformation method or the error vector construction method.Finally,the effectiveness of the proposed protocols is further verified by simulations.

关 键 词：合围控制 异质多智能体系统 一致性 有向网络 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]