时变领航情况下多智能体网络一致性分析与应用

Consensus analysis and application of multi-agent network with a time-varying leader

针对个体动态为一阶积分器的多智能体网络,研究时变领航情况下网络的一致性.当只有部分个体已知领航者状态时,基于智能体间的相对状态,提出分布式控制协议,应用图论、矩阵理论和稳定性理论给出有向固定拓扑网络实现一致的充要条件及算法.拓展算法至当智能体间具有固定相对状态偏差时,给出分布式控制协议和网络实现一致的充要条件及算法.仿真实验结果表明:基于文中算法的控制协议可以实现只有部分智能体已知时变领航情况下的一致性追踪,基于拓展算法的控制协议可使多车辆在一定时间保持理想编队.该研究结果对于多智能体协调控制问题具有参考意义,也为多车辆编队控制问题提出新的思路.

The consensus problem is investigated for the multi-agent network with a time-varying leader where the dynamics of agents is modeled as single-integrator.Based on the relative states between agents,the distributed control protocol is proposed when only aportion of the agents has access to the leader reference state.Furthermore,necessary and sufficient condition are developed to achieve consensus of multi-agent network under the fixed topology applying graph theory,matrix theory and stability theory.Additionally,the algorithm proposed is expanded to the condition of maintaining a constant reference state deviation between agents,the distributed control protocol and the necessary and sufficient condition of achieving consensus are also given.Finally,simulation examples and multi-vehicle formation control simulation validate the soundness of the theoretical results.