摘要
针对多智能体领航跟随策略提出了一种基于距离约束的编队控制算法,同时实现了编队保持与速度跟踪。多智能体系统由单领航者及两个跟随者组成,单领航者以一常值参考速度运动,追随者无法测量自身及其他智能体的速度。为了跟踪单领航者的速度以实现编队保持,针对追随者设计了一种自适应控制律以估计领航者的速度并使各智能体保持理想距离,基于Lyapunov分析与Barbalat引理证明了闭环系统的稳定性,仿真结果验证了所提算法的有效性。
A formation control algorithm based on distance constraints is proposed for multi-agent leader-follower strategy,and formation keeping and velocity tracking are realized simultaneously.The multi-agent system consists of a single leader and two followers.The single leader moves at a constant reference velocity, and the followers cannot measure the velocity of themselves or other agents.In order to track the speed of the single leader to achieve formation shape keeping,an adaptive control law is designed for the followers to estimate the velocity of the leader and keep each agent at the desired distance.Based on Lyapunov analysis and Barbalat’s lemma,the stability of the closed-loop system is proved,and the effectiveness of the proposed method is verified by simulation results.
作者
孟蕾
MENG Lei(Jiangxi University of Technology,Nanchang 330000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第7期48-52,共5页
Electronics Optics & Control
基金
江西省教育厅课题(JXJG_15_24_10)
江西省体育局课题(2019012)。
关键词
多智能体
编队
领航跟随策略
速度跟踪
multi-agent
formation
leader-follower strategy
velocity tracking
