多个体系统在平面曲线上的一致性问题

Conformance of Multi-Agent System along the Plane Curve

提出平面上的多个体系统在某一确定的光滑曲线上的一致性问题.在一定条件下,设计了一个非线性的分散反馈控制协议,使得每一个体随着时间的推移趋向于该曲线,都沿着曲线的同一个方向运动,并且运动速度趋于一致.最后给出仿真例子,对理论结果进行验证.

In this paper, we have discussed the conformance problem of multi - agent systems along a certain plane curve. Under some conditions, a nonlinear decentralized feedback proto-col is designed. As a result, all agents eventually converge to the curve, move in the same di-rection along the curveand their velocities tend to be uniform. A simulation example is also giv-en to illustrate the theoretical outcome.