多智能体系统编队控制器设计的研究进展

A survey of designing formation controller in multi-agent systems

对于编队控制问题的研究,不但可以从理论上阐述智能体之间相互协同的内在机理,而且也可以为许多实际问题的应用提供基础。分布式编队控制是多智能体系统协同控制中的一个热点问题。从控制协议设计的角度来说,现有的结果主要关注于一般编队控制问题与刚性编队控制问题。一般编队控制问题通过理想位置或者被称为导航函数实现,而刚性编队控制通过图刚性方法实现理想形状。在这个意义下,编队控制协议的设计可以被区分为一致性式编队控制器和梯度式编队控制器。通过分析这些控制器的设计方法,总结现有多智能体系统编队控制问题的相关结果,并探讨该问题发展趋势。

The study of formation control can not only explain the internal mechanism of cooperation behaviors among the agents in theory but also provide a foundation for the application of many practical problems.Distributed formation control is a hot topic in cooperative control of multi-agent systems. Existing design control protocol mainly focuses on usual formation control and rigid formation control.The usual formation control is realized by the desired position or called navigation function.The rigid formation control needs to ensure the desired formation shape by utilizing the graph rigidity approach.In this sense,the main method of design controller can be divided into two aspects: consensus-based formation control protocol and gradient-based formation control protocol.The design methods of these control protocols are analyzed,relevant results in the existing works are summarized,and the future prospect of the problem is also discussed.