摘要
针对具有时滞的二阶多智能体分布式控制问题,设计了一种新的控制协议来解决多智能体系统的多任务控制问题,即同时考虑一致性控制和编队控制两种情况。利用Lyapunov稳定性理论和图论相关知识,在时滞存在的情况下,证明了此协议能在所得到的时滞范围内实现多智能体系统分布控制,通过数值仿真验证所得结果的正确性。
To reduce the time delay of second-order multi-agent distributed control,a new control protocol is designed to solve the multi-task control problem of multi-agent systems,which takes into account both consensus control and formation control.Based on Lyapunov stability theory and graph theory,it is proved that this protocol can realize the distributed control of multi-agent systems within the time-delay range.The correctness of the obtained results is verified by numerical simulation.
作者
顾芙蓉
李伟勋
杜向阳
GU Furong;LI Weixun;DU Xiangyang(School of Sciences,Tianjin University of Technology and Education,Tianjin 300222,China)
出处
《天津职业技术师范大学学报》
2023年第4期36-41,共6页
Journal of Tianjin University of Technology and Education
基金
国家自然科学基金资助项目(12201462)
关键词
多智能体系统
多任务
时滞
一致性
编队控制
multi-agent system
multi-task
time delay
consensus control
formation control
