摘要
针对在多智能体系统的通信网络中需要对交换信息进行量化的客观情况,研究基于量化信息的二阶多智能体系统蜂拥控制问题.首先,假设多智能体系统采用一致量化器对速度和位置信息进行量化,并且有一个虚拟领导者沿着固定方向匀速运动;然后,设计基于量化信息的多智能体蜂拥控制输入,并利用非平滑系统的Lyapunov稳定性判据和不变集原理证明系统的稳定性;最后,利用Matlab对多智能体系统在二维平面上的蜂拥运动进行仿真实验,仿真结果验证了理论分析的正确性.
A quantized flocking control of a group of second-order multiple agents is proposed to deal with the problem of the exchange of information needed to quantify. Firstly, it is assumed that the uniform quantizer is used for the exchange of relative position and velocity information between neighboring agents, and the virtual leader moves at a steady speed in a straight line. Then multiple agents flocking controller is designed based on the quantitative information. The Lyapunov stability criterion of nonsmooth systems and invariance principle are used to prove the stability of the systems. Simulation results show the correctness of the theoretical analysis.
出处
《控制与决策》
EI
CSCD
北大核心
2015年第3期541-545,共5页
Control and Decision
关键词
多智能体
蜂拥控制
一致量化器
multiple agents
flocking control
uniform quantizer
