基于分布式自适应方法的多智能体系统的包容控制

Containment control of multi-agent system based on distributed adaptive method

研究一般线性多智能体系统在有向固定拓扑结构下的包容控制问题,提出一种新的完全分布式的自适应控制协议。利用矩阵理论将原系统转换成误差系统,再利用Lyapunov方法分析误差系统的稳定性问题,得到了多智能体系统包容控制问题可解的充分条件。该协议的参数设计不依赖任何全局信息,仅利用自身和邻居智能体的相对状态信息,有效地驱使所有跟随者的状态渐近收敛到领导者相应状态所形成的凸包内。仿真实例验证了理论结果的有效性。

The containment control problem for general linear multi-agent systems under directed fixed topologies was studied,and a novel totally distributed adaptive control protocol was proposed.By using matrix theory,the original system was changed into the error system.Then,Lyapunov technique was used to analyze the stability of error system,and the sufficient conditions guaranteeing containment control of multi-agent systems were gained.The parameter design of this protocol was independent of any global information.It only utilized relative state information of itself and neighboring agents to effectively drive the states of all followers to asymptotically converge to the convex hull formed by corresponding states of the leaders.The simulation example verifies the effectiveness of the theoretical result.