| 有向切换拓扑下多智能体系统编队控制 |
| |
| 引用本文： | 赵学远,周绍磊,祁亚辉,王帅磊.有向切换拓扑下多智能体系统编队控制[J].计算机仿真,2021,38(1):42-46. |
| |
| 作者姓名： | 赵学远 周绍磊 祁亚辉 王帅磊 |
| |
| 作者单位： | 中国人民解放军海军航空大学,山东烟台264001;中国人民解放军海军航空大学,山东烟台264001;中国人民解放军海军航空大学,山东烟台264001;中国人民解放军海军航空大学,山东烟台264001 |
| |
| 摘 要： | 针对多智能体系统编队形成过程中受lur'e型非线性项影响,并考虑降低系统通信要求,基于一致性理论,设计了分布式控制器,使得多智能体系统形成时变编队.利用Laplacian矩阵的特殊性质,对其进行分解,将多智能体系统的编队控制问题转化为低阶系统的稳定性问题.给出了切换拓扑的平均驻留时间概念,据此提供了一种设计分布式控制器...
|
| 关 键 词： | 编队 一致性 有向切换拓扑 |
Formation Control of Multi-Agent System with Directed Switching Topology |
| |
| ZHAO Xue-yuan,ZHOU Shao-lei,QI Ya-hui,WANG Shuai-lei.Formation Control of Multi-Agent System with Directed Switching Topology[J].Computer Simulation,2021,38(1):42-46. |
| |
| Authors: | ZHAO Xue-yuan ZHOU Shao-lei QI Ya-hui WANG Shuai-lei |
| |
| Affiliation: | (Naval Aeronautical University of PLA,Yantai Shandong 264001,China) |
| |
| Abstract: | In view of the influence of Lur'e-type nonlinearity on formation process of multi-agent system and considering the reduction of system communication requirements,a distributed controller based on consensus theory was designed to make multi-agent system form time-varying formation.The special properties of Laplacian matrix were used to decompose it,then the formation control problem of multi-agent system was converted into the stability problem of low-order system.The concept of average dwell time of switching topology was given.Then a step for designing distributed controllers was provided.By using linear matrix inequalities and Lyapunov functions,it is proved that under directed switching topology,multi-agent systems can form time-varying formation under the influence of Lur'e-type non-linear terms.The effectiveness of the designed controller was verified via simulation. |
| |
| Keywords: | Formation Consensus Directed switching topology |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
