基于反馈控制策略的多智能体蜂拥控制

讨论一类带有虚拟领导者的二阶多智能体蜂拥问题. 为了避免群体的分裂, 提出对虚拟领导者进行反馈控制的蜂拥算法.假设多智能体系统中有部分数量固定的跟随者和领导者之间建立通信链路,领导者在沿着预设轨迹运动的同时, 根据此部分跟随者的状态反馈调节自身的运行速度,减小跟随者和领导者之间的跟随误差.利用该算法,即使只有部分的跟随者能够获得虚拟领导者信息,所有的跟随者的速度仍将渐近收敛到虚拟领导者的速度,跟随虚拟领导者的运行轨迹运行,最终形成稳定的群集运动.仿真了多智能体在平面上的蜂拥运动,仿真结果验证了结论的有效性.

Flocking control of multiple agents based on feedback control strategy

A flocking control of a group of second-order dynamical mobile agents with a virtual leader was addressed. A distributed flocking algorithm was designed to coordinate the motion of multiple agents and the virtual leader in order to avoid fragmentation. Under the assumption that there were some communication links between the virtual leader and the followers, the virtual leader tracked a pre-defined trajectory and at the same time the leader used the feedback information from followers to the leader to modify its motion. Even when only a fraction of agents had access to the information about the position and velocity of the virtual leader, all agents not only formed a network and track the virtual leader, but also avoided collision as well as preserved connectivity among agents for all the time. Two-dimensional flocking of a group of agents was performed. Simulation results demonstrated the validity of the algorithm.