CAJ | 학술논문

主要研究了 leader-following多智能体网络的分布式编队问题。假设多智能体网络中的每个 follo-wer不能实时得到leader的信息，针对每个 follower 设计相应的分布式观测器。考虑了无时延的切换拓扑多智能体网络和存在时变时延的固定网络两种情况。利用 Lyapunov 稳定定理，给出了系统稳定和控制协议有效的充分条件。最后，给出了数字仿真结果以验证所设计协议的有效性，即 followers 形成所要求的编队并且与 leader达到速度一致。
주요연구료 leader-following다지능체망락적분포식편대문제。가설다지능체망락중적매개 follo-wer불능실시득도leader적신식，침대매개 follower 설계상응적분포식관측기。고필료무시연적절환탁복다지능체망락화존재시변시연적고정망락량충정황。이용 Lyapunov 은정정리，급출료계통은정화공제협의유효적충분조건。최후，급출료수자방진결과이험증소설계협의적유효성，즉 followers 형성소요구적편대병차여 leader체도속도일치。
This paper investigates the distributed formation control of leader-following multi-agent network. Supposing each follower can not get the real-time information of the virtual leader,the distributed observer is designed for each follower.The paper considers both the condition of switching topologies without time delay and fixed topologies with time-varying communication delay.By using the Lyapunov stability theory, the sufficient conditions of system’ s stability and the designed protocols’ effectiveness are given.Finally, the numerical simulation results are presented to illustrate the effectiveness of the designed protocols, namely,the followers form the designed formation and reach velocity consensus with the virtual leader.