基于分布式控制的多个体系统的循环追踪控制

Distributed control for multi-agent system using cyclic pursuit

给出了多个体系统在循环追踪控制率下在达到平衡状态时关于个体运动轨迹的2个结果。针对线性和非线性多个体系统分别进行了讨论,指出在稳定的线性多个体系统的情况下,如果初始位置的摆放保持一定的形状,每个个体将按照一定的轨迹收敛到平衡点;在稳定的非线性多个体系统中,每个个体到达平衡状态之后的运动轨迹也将保持一定的性质。最后通过仿真验证了本文的结果。

Two results about the behaviour of a group of agents in multi-agent systems using cyclic pursuit are provided.Linear cyclic pursuit law and nonlinear pursuit law are discussed respectively.Under stable linear pursuit law,if the arrangement of the initial positions of all agents is in a specified formation,then each agent will converge to an equilibrium point following a certain track and all agents will remain the same formation.Under stable nonlinear pursuit law,all the agents will remain a specified property when they reach the equilibrium state.Simulation experiments verify the results.