多智能体沿多条给定路径编队运动的有向协同控制

研究了在有向通信连接下二阶积分器描述的多智能体沿多条给定路径编队运动的控制器设计及其稳定性分析问题. 智能体的动态和指定路径都是在固定直角坐标系下描述的. 通过引入路径函数来设计路径跟踪控制, 根据路径函数与弧长的关系来设计编队控制律, 使得多智能体沿期望路径的位置和速度在规定队形下达到一致. 利用图论证明, 当通信拓扑对应的有向图具有全局可达点时, 设计的编队控制系统是渐近稳定的. 本文设计的有向协同控制律可以应用于区域的信息优化采集.

Directed Coordinated Control for Multi-agent Formation Motion on a Set of Given Curves

This paper studies formation control design and stability analysis for a system of double-integrator agents with directed communication links, in which the agents' motions are restricted to a set of given curves. The agents' dynamics and the given curves are all described in a fixed system of rectangular coordinates. Path functions are introduced to design path-following control system and then incorporated into arc-length functions to design formation protocol for guaranteeing consensus of both positions and velocities of agents along their desired paths based on the nominated formation. By graph theory, it is proved that the designed formation control system is asymptotically stable if the directed graph associated with the communication topology has a globally reachable node. The directed coordinated strategy proposed in this paper is applicable to optimal data collecting in an area.