井冈山大学学报(自然科学版)
井岡山大學學報(自然科學版)
정강산대학학보(자연과학판)
JOURNAL OF JINGGANGSHAN UNIVERSITY(SCIENCE AND TECHNOLOGY)
2014年
1期
60-65,70
,共7页
林涛%韩娜妮%刘仰魁
林濤%韓娜妮%劉仰魁
림도%한나니%류앙괴
多智能体系统%分布式编队控制%一致性协议%离散%参考智能体
多智能體繫統%分佈式編隊控製%一緻性協議%離散%參攷智能體
다지능체계통%분포식편대공제%일치성협의%리산%삼고지능체
multi-agents systems%distributed formation control%consensus protocol%discrete-time%reference agent
本文研究了离散多智能体系统在固定有向拓扑中的分布式编队控制,同时假设此系统跟踪时变参考状态。首先,针对一阶系统设计了控制协议,给出了系统稳定时协议参数需满足的充要条件,结果表明,跟踪误差的上限正比于采样周期。其次,针对二阶系统,考虑了速度一致性,其编队控制协议可用同样的方法研究。最后通过仿真,结果证明了所设计协议的有效性。
本文研究瞭離散多智能體繫統在固定有嚮拓撲中的分佈式編隊控製,同時假設此繫統跟蹤時變參攷狀態。首先,針對一階繫統設計瞭控製協議,給齣瞭繫統穩定時協議參數需滿足的充要條件,結果錶明,跟蹤誤差的上限正比于採樣週期。其次,針對二階繫統,攷慮瞭速度一緻性,其編隊控製協議可用同樣的方法研究。最後通過倣真,結果證明瞭所設計協議的有效性。
본문연구료리산다지능체계통재고정유향탁복중적분포식편대공제,동시가설차계통근종시변삼고상태。수선,침대일계계통설계료공제협의,급출료계통은정시협의삼수수만족적충요조건,결과표명,근종오차적상한정비우채양주기。기차,침대이계계통,고필료속도일치성,기편대공제협의가용동양적방법연구。최후통과방진,결과증명료소설계협의적유효성。
We investigate the distributed formation for discrete-time multi-agent systems with a time-varying reference state in fixed directed communication topology. The multi-agent systems modeled as first-order and second-order equations are both considered. Firstly, the protocol for the first-order system is proposed, under which the agents can be able to track the time-varying reference state while maintaining the desired formation. We give a sufficient and necessary condition that the sampling period satisfies to ensure the stability. Furthermore, we study the quantitative bound of the tracking error. It is shown that the ultimate bound of the tracking error is proportional to the sampling period. The multi-agent system described as second-order equations is developed by using the same way and the velocity consensus is concerned as well. Finally, the simulation results illustrate the effectiveness of the designed protocols.