CAJ | 학술논문

研究二阶多智能体系统的队形控制问题。假设平面上一群智能体和一个静止的锚节点，在会话通信模式下仅利用角度信息为每个智能体设计分布式控制器，控制加速度输入使得它们最终形成以固定锚节点为中心的平衡圆周队形，并给出仿真图验证结果。
연구이계다지능체계통적대형공제문제。가설평면상일군지능체화일개정지적묘절점，재회화통신모식하부이용각도신식위매개지능체설계분포식공제기，공제가속도수입사득타문최종형성이고정묘절점위중심적평형원주대형，병급출방진도험증결과。
This paper addresses the second-order formation control problem, which the objective is to control a group of agents such that they are evenly spaced on a circular trajectory. It is assumed that there is a fixed anchor in the plane. The group of agents can exchange angle information under the gossip communication scenario. A control algorithm based on local information is proposed for each agent. Simulations results are provided to check validity.