摘要
研究了双积分模型的多智体弱刚性编队控制问题,给出了基于距离的多智能体弱刚性编队的双积分模型,设计了弱刚性编队控制律。将多智能体系统运动学描述为一个哈密顿系统。然后,基于哈密顿系统和梯度系统的等价性分析该控制系统的稳定性。仿真结果表明,所设计的控制器能够有效生成弱刚性编队。
In order to reduce the amount of internal information interaction and communication complexity of multi-agent formation control,a double integral model design method of weakly rigid formation controller is proposed.Firstly,the double integral model of multi-agent weakly rigid formation based on distance is established,and the target of weakly rigid formation control is given.Secondly,considering the inner product constraints of the paired relative displacements,a gradient-like formation control law is designed.Finally,the kinematics of the multi-agent system is described as a Hamiltonian system.Based on the equivalence between Hamiltonian system and gradient system,the stability of the system is analyzed.The effectiveness of the algorithm is verified by numerical examples.
作者
杨秀霞
严瑄
张毅
YANG Xiuxia;YAN Xuan;ZHANG Yi(Naval Aviation University,Yantai 264001,China)
出处
《兵器装备工程学报》
CSCD
北大核心
2021年第7期210-215,共6页
Journal of Ordnance Equipment Engineering
基金
山东省自然科学基金项目(ZR2020MF090)
总装预研基金项目(6142055040203)。
关键词
多智能体编队
刚性编队
弱刚性编队
梯度控制
编队控制
Multi agent formation
rigid formation
weak rigid formation
gradient control
formation control
