基于事件触发的多智能体分布式编队控制

Distributed Formation Control of Multi-agent Based on Event Trigger

研究具有有向通信拓扑的多智能体分布式编队事件触发控制问题,被控对象采用两轮差速轮式机器人。首先,建立轮式机器人运动学模型,并利用动态反馈线性化方法将模型转化为线性双积分器模型。其次,根据通信拓扑关系设计分布式编队控制器。然后,基于李雅普诺夫稳定性定理,在满足稳定性的前提下设计事件触发器,从而实现分布式编队事件触发控制,并且保证系统不存在Zeno行为。最后,通过仿真实验与物理实验验证了控制算法的有效性,智能体间通信量显著降低。

This paper studies the distributed formation event trigger control problem of multi-agent with a directed communication topology and the agents use the two-wheel differential robot.Firstly,the kinematic model of wheeled robot is developed and transformed into a linear double integrator model through dynamic feedback linearization.Then the distributed formation controller is designed based on communication topology.Based on Lyapunov stability theorem,this paper designs the event trigger on the premise of stability.Thereby,the distributed formation event trigger control is implemented.And it ensures that there is no Zeno behavior in the system.Lastly,the effectiveness of the control algorithm is verified by simulation experiments and physical experiments,and communication frequency between agents is significantly reduced.