非线性领导者-跟随者多智能体系统的多编队控制

Multi-formation control of nonlinear leader-following multi-agent systems.

作者信息

Han Tao, Guan Zhi-Hong, Chi Ming, Hu Bin, Li Tao, Zhang Xian-He

机构信息

College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China; College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, PR China.

College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China.

出版信息

ISA Trans. 2017 Jul;69:140-147. doi: 10.1016/j.isatra.2017.05.003. Epub 2017 May 16.

DOI:10.1016/j.isatra.2017.05.003

PMID:28522029

Abstract

This paper deals with the multi-formation control problem for nonlinear leader-following multi-agent systems. Both the fixed topology case and the switching topology case are considered. The neighbor-based multi-formation control protocols are proposed under the assumption that for one subgroup, the total information received from other subgroups is zero. Then, based on the Lyapunov stability theory combined with the algebraic graph theory, sufficient conditions are established to ensure that the leader-following multi-agent systems with nonlinear dynamics can reach and maintain the desired multi-formation control. Finally, simulation examples are provided to illustrate the effectiveness of the theoretical results.

摘要

本文研究非线性领导者跟随多智能体系统的多编队控制问题。考虑了固定拓扑情况和切换拓扑情况。在假设对于一个子群，从其他子群接收的总信息为零的前提下，提出了基于邻居的多编队控制协议。然后，基于李雅普诺夫稳定性理论并结合代数图论，建立了充分条件，以确保具有非线性动力学的领导者跟随多智能体系统能够达到并保持期望的多编队控制。最后，给出了仿真例子来说明理论结果的有效性。