Hamilton框架下Flocking问题控制协议的设计

Flocking control protocol design based on a Hamiltonian framework

针对Flocking控制协议的设计,本文给出了一些新的结果。首先,通过选择一类合适的Hamilton函数,为多智能体系统建立一个Hamilton结构。其次,基于上述得到的Hamilton结构,利用每个智能体的邻居信息设计两类Flocking控制协议,一个控制协议具有线性队列结构,另一个具有非线性队列结构。研究表明:在这两类Flocking控制协议下,所有智能体的速度趋于一致,且智能体相互之间的距离保持恒定,即稳定的Flocking行为得到了保证。最后,通过仿真模拟验证了本文得到的结论。

Several new results on the Flocking control protocol design are presented. First, a Hamiltonian structure is provided for the systems by choosing a kind of suitable Hamiltonian function. Second, based on the provided Hamiltonian structure, two kinds of Flocking control protocols are designed by only using local information of each agent. One protocol is with the linear alignment rule and the other is with a kind of nonlinear alignment rule. It is shown that, fol- lowing the two Flocking control protocols, all the agents＇ velocities can converge to the same value, and stable Floc- king behaviors can be guaranteed. Finally, result of simulation reveals that the Flocking protocols proposed in this paper work very well in the Flocking control of multi-agent systems of ＂boids＂ model.