二阶多智能体系统的一致性分析

Consensus Analysis of Second-Order Multi-Agent Systems

研究了二阶连续多智能体系统的一致性问题,其中每个智能体能够实时获得自己的速度信息,但是只能在一些离散时刻上获得自己和邻居的相对位置信息。在给定的控制输入下,建立了一致性成立的充要条件,并将该理论结果应用到多机器人编队控制问题中。提供的数值仿真进一步验证了理论结果的有效性。

This paper studies the consensus problem of multiple agents with continuous-time sec- ond-order dynamics, where each agent can obtain its velocity at any time, and can only obtain its position relative to its neighbors at discrete times. Under the given controller, some sufficient and necessary conditions are established, which are further applied to formation control of multi- ple robots. Simulations are performed to validate the theoretical results.