武汉科技大学学报(自然科学版)
武漢科技大學學報(自然科學版)
무한과기대학학보(자연과학판)
Journal of Wuhan University of Science and Technology (Natural Science Edition)
2015年
5期
373-376
,共4页
徐敏敏%金晓宏%雷斌%陈浩
徐敏敏%金曉宏%雷斌%陳浩
서민민%금효굉%뢰빈%진호
多智能体%编队控制%一致性%噪声干扰%运动轨迹%仿真分析
多智能體%編隊控製%一緻性%譟聲榦擾%運動軌跡%倣真分析
다지능체%편대공제%일치성%조성간우%운동궤적%방진분석
multi-agent%formation control%consensus%noise interference%motion trajectory%simula-tion analysis
针对噪声信号使多智能体系统难以形成一致的问题,综合运用代数图理论、矩阵论等知识,结合一致性形成条件和现有的一致性协议,提出一种改进的带有噪声的一致性控制算法。该算法能够使系统状态量与控制输入量收敛到一个很小的范围,从而大大弱化噪声对系统的影响。将这种改进算法应用到多智能体编队控制中并进行仿真,仿真结果表明,采用改进的一致性控制算法后,多智能体运动轨迹波动小,轨迹曲线平滑,各运动参数趋于一致,具有良好的编队一致性。
針對譟聲信號使多智能體繫統難以形成一緻的問題,綜閤運用代數圖理論、矩陣論等知識,結閤一緻性形成條件和現有的一緻性協議,提齣一種改進的帶有譟聲的一緻性控製算法。該算法能夠使繫統狀態量與控製輸入量收斂到一箇很小的範圍,從而大大弱化譟聲對繫統的影響。將這種改進算法應用到多智能體編隊控製中併進行倣真,倣真結果錶明,採用改進的一緻性控製算法後,多智能體運動軌跡波動小,軌跡麯線平滑,各運動參數趨于一緻,具有良好的編隊一緻性。
침대조성신호사다지능체계통난이형성일치적문제,종합운용대수도이론、구진론등지식,결합일치성형성조건화현유적일치성협의,제출일충개진적대유조성적일치성공제산법。해산법능구사계통상태량여공제수입량수렴도일개흔소적범위,종이대대약화조성대계통적영향。장저충개진산법응용도다지능체편대공제중병진행방진,방진결과표명,채용개진적일치성공제산법후,다지능체운동궤적파동소,궤적곡선평활,각운동삼수추우일치,구유량호적편대일치성。
Aimed at at the problem that it is difficult for multi-agent system to form consensus under the impact of the noise signal,an improved consensus control algorithm with noise was proposed by applying algebraic graph and matrix theory comprehensively and considering the formation conditions and existing protocol of consenus.This algorithm enables the state variables and control inputs of the system to converge to a small range and thus can offset the influence of the noise on the system.Sim-ulation of multi-agent formation control has been conducted by using this improred algorithm.Simula-tion data show that the motion trajectory of multi-agent has a small fluctuation,the track curves are smoother,the motion parameters are consistent and the system has good formation consensus.