离散多智能体系统的分布式编队跟踪控制

THE DISTRIBUTED FORMATION TRACKING CONTROL OF THE DISCRETE MULTI-AGENT SYSTEM

本文研究了离散多智能体系统在固定有向拓扑中的分布式编队控制,同时假设此系统跟踪时变参考状态。首先,针对一阶系统设计了控制协议,给出了系统稳定时协议参数需满足的充要条件,结果表明,跟踪误差的上限正比于采样周期。其次,针对二阶系统,考虑了速度一致性,其编队控制协议可用同样的方法研究。最后通过仿真,结果证明了所设计协议的有效性。

We investigate the distributed formation for discrete-time multi-agent systems with a time-varying reference state in fixed directed communication topology. The multi-agent systems modeled as first-order and second-order equations are both considered. Firstly, the protocol for the first-order system is proposed, under which the agents can be able to track the time-varying reference state while maintaining the desired formation. We give a sufficient and necessary condition that the sampling period satisfies to ensure the stability. Furthermore, we study the quantitative bound of the tracking error. It is shown that the ultimate bound of the tracking error is proportional to the sampling period. The multi-agent system described as second-order equations is developed by using the same way and the velocity consensus is concerned as well. Finally, the simulation results illustrate the effectiveness of the designed protocols.