异质多智能体系统的编队控制

Formation control of heterogeneous multi-agent systems

目的研究异质多智能体系统的编队控制问题。方法基于图论和李雅普诺夫直接方法进行研究。结果针对由一阶和二阶积分器智能体构成的异质多智能体系统,给出了一种基于一致性的时变编队控制协议。结论证明了使用上述协议的异质多智能体系统能够解决编队控制问题。

Purposes--To investigate the formation control problem of heterogeneous multi-agent systems. Methods--Graph theory and Lyapunov direct method are employed. Results--A time-varying formation control protocol is provided for heterogeneous multi-agent systems which are composed of first-order and second-order integrator agents. Conclusion--The system under aforementioned protocol is proved to be able to solve the formation control problem.