基于二层邻居信息的多智能体系统编队控制

Second-order information based formation control in multi-Agent system

为了加快多智能体编队控制过程中的状态收敛,提出基于多跳式网络技术的编队控制方法。首先将多智能体系统(MAS)中的每个智能体之间的相对速度偏移引入到控制协议中,然后引入每个智能体与标准位移之间的位置偏移,最后将多跳式网络技术应用在已定的通信拓扑之中,更多的机体信息被传递,每一个智能体能够联系上的邻居数量更多。利用一个六智能体系统的编队仿真进行验证,仿真结果表明所提出的编队控制方法可以使得多智能体系统形成指定队形,并且与没有引入多跳式网络技术的控制方法相比,其状态收敛所需时间减少了约10 s,收敛效率更高。

In order to speed up the state convergence in the multi-Agent formation control process, a formation control method based on multi-hop network technology was proposed. Firstly, the relative velocity deviation between Agents of MultiAgent System（ MAS） was introduced into the control protocol. Then, the absolute displacement deviation between Agents and the standard displacement was introduced. Finally, the multi-hop network technology was applied in the communication topology, so more information was passed around and each Agent enlarges its available neighborhood. A six-Agent formation control example was used to verify the proposed protocol. The simulation results show that the proposed control method can make the system build up the specified formation; and the time required for state convergence is reduced by nearly 10 seconds compared with the control method that does not take into account multi-hop network technology, which verifies that the proposed method is more efficient.