摘要
对固定拓扑结构下多智能体有向网络一致性问题进行了研究,提出了一类协调控制器并证明了使多智能体网络在固定拓扑结构下取得全局渐进一致的充要条件,考虑到智能体之间通讯过程中存在的时延问题,给出了最大固定延时时间的紧凑上界,取得了满意效果,最后将信息一致性思想应用于多机器人的编队控制。结果表明,基于信息一致性的方法可成功应用于机器人编队控制。
The consensus problem in directed networks of multi-agents under fixed topology is studied.A class of cooperative controller is applied to consensus seeking,moreover,the sufficient and necessary condition for the multi-agents under fixed networks topology to achieve global asymptotically is proved out.Considering the time-delay problems during the communicaton between multi-agents,a tight upper bound on the maximum fixed time-delay is proposed.Based on the consensus concept,formation control for multiple robots is studied.Simulation results show the validation of the method.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第10期4-7,共4页
Fire Control & Command Control
基金
国家自然科学基金资助项目(60875071)
