具有多领导者的二阶多智能体系统时变编队控制

Time-varying formation control for second-order multi-agent systems with multiple leaders

研究了具有多个领导者的二阶多智能体系统时变编队问题。首先,针对多领导者的二阶多智能体系统提出了时变编队控制协议。其次,通过代数图论、Riccati方程和Lyapunov稳定性理论证明了控制协议的稳定性,并得到了系统实现时变编队控制的充分条件。最后,利用数值仿真验证了控制算法的有效性和准确性。

The paper investigates time-varying formation problem for second-order multi-agent systems with multiple leaders.Firstly,it proposes a time-varying formation control protocol with multiple leaders.Secondly,based on algebraic graph theory,Riccati equation and Lyapunov stability theory,it obtains some sufficient conditions to achieve the time-varying formation.Finally,it varifies the effectiveness and accuracy of control algorithms numerical simulations.