摘要
面向多智能体系统编队协同完成既定任务,针对具有非线性动态的二阶多智能体系统的编队控制问题,开展分布式编队控制协议设计。考虑到集群运动过程中,各智能体只需调整自身与相邻智能体的相对位置即可维持整体队形。基于邻居智能体之间的相对状态信息,提出了具有时变增益的自适应控制协议,证明了多智能体系统在该控制协议作用下能实现编队控制。最后,仿真实例表明该控制协议可确保二阶非线性多智能体系统形成并保持预先给定的编队构型。与静态控制协议相比,提出的自适应控制协议无须借助智能体自身的非线性动态特性以及通信拓扑图等全局信息,显著提升了协同编队的智能性,可支撑未来大规模多智能体系统协同编队。
Aiming at the formation control problem of second-order multi-agent system with nonlinear dynamics,a distributed control protocol was designed to complete the assigned task cooperatively.Considering that during the movement of the cluster,each agent only need to adjust the relative position between itself and the neighboring agents to maintain the overall formation,an adaptive control protocol with time-varying control gains is proposed based on the relative states between neighboring agents.It is proved that the system can achieve formation control under the proposed protocol.Finally,a numerical example is provided to demonstrate the effectiveness of our proposed protocol,which can ensure that the multi-agent systems reach and maintain a pre-specified structure.Compared with the static control pro-tocol,the adaptive control protocol proposed in this paper doesn't require any global information of the nonlinear agent dynamics and the communication graph,which significantly improves the intelligence of cooperative formation and supports the cooperative formation of large-scale multi-agent systems in the future.
作者
王平
刘畅
WANG Ping;LIU Chang(HiWing General Aviation Equipment co.LTD.,Beijing 100074,China;Beijing Institute of Automatic Control Equipment,Beijing 100074,China)
出处
《无人系统技术》
2021年第3期26-31,共6页
Unmanned Systems Technology
基金
国家重点研发计划(2017YFC0806700)。
关键词
编队控制
非线性动态
二阶多智能体系统
时变控制增益
自适应控制
一致性问题
Formation Control
Nonlinear Dynamics
Second-order Multi-agent Systems
Time-varying Gains
Adaptive Control
Consensus Problem
