摘要
研究了控制器采用事件驱动机制时,多智能体系统的环形编队控制问题.事件驱动控制机制用来降低个体控制更新的频率,以此减少整个系统的能量消耗.假设所有智能体始终在一固定的圆环上运动,并且每个智能体只能感知到其前后两个紧邻智能体的信息.利用邻居的信息,对每个智能体设计分布式控制律,在事件驱动控制机制下,所提控制策略可以使多智能体系统形成给定的期望环形编队,并将环形编队扩展到特殊的均匀环形编队形式.数值的仿真验证了所提控制策略的有效性.
In this paper, we investigate the event-driven circle formation control problem of multi-agent systems. Event-driven control strategy is used to reduce the frequency of individual control updating so as to save the energy of whole systems, since the agents may be energy-limited in real applications. Assuming that the agents move on a fixed circle all the time, and each agent can only sense the relative information of its two neighbor agents that are immediately in front of or behind itself. We propose distributed control law for each agent, and obtain two forms of event-driven function. The event-driven control law can guide the agents to form the desired circle formation eventually. The circle formation problem is also extended to the special uniform circle formation problem. Numerical simulations show the effectiveness of this approach.
出处
《系统科学与数学》
CSCD
北大核心
2014年第7期815-827,共13页
Journal of Systems Science and Mathematical Sciences
基金
北京市教育委员会科技计划面上项目(KM201310017006)资助课题
关键词
多智能体系统
编队控制
事件驱动
环形编队
Multi-agent systems, formation control, event-driven, circle formation
