反馈控制策略的自适应群集运动

An adaptive flocking motion with a leader based on a feedback control scheme

针对有领航者的多智能体群集运动中可能出现的跟踪误差大或跟随者掉队的现象,提出了一种基于信息反馈的自适应的群集运动跟踪方法.采用邻近规则在领航者与周围邻近的跟随者之间引入双向信息流,使得领航者按事先确定的轨迹运行的同时,能根据邻近的跟随者的状态信息自适应地调节自身的运行状态.并采用李亚普诺夫方法分析了系统的稳定性,证明了该策略能减小系统的跟踪误差且对系统的机械故障和网络故障具有鲁棒性.仿真结果证明了该控制策略能提高系统的性能.

An adaptive flocking motion with information feedback was presentd for a leader-following approach in a multi-Agent system.This system may have large errors or the phenomenon of the follower falling behind.By introducing two information flows between the leader and its local neighbors,the leader can track a pre-defined trajectory,and at the same time,can modify its motion according to the static information of the neighboring followers.The Lyapunov approach was used to analyze the stability of the system and demonstrate that the strategy of information feedback can decrease the tracing errors and improve the robustness of the system for overcoming mechanical and network malfunctions.The results of the simulations were given to illustrate that information feedback can improve the performance of the system.