多智能体系统圆形编队控制与一致性

Consistency and circular formation control of multi-agent system

针对一组具有非恒同速度的多智能体系统圆形编队控制问题,提出了一组混合的分布式控制器。该控制器由两部分组成,一部分作用于系统的相位上,一部分作用于角频率上,其中角频率上的控制器主要协调系统中相位变化和初始角频率对系统稳定性的影响。编队设计主要基于系统的相位控制实现,为此给出了2种编队设计方案,即基于位置方法和基于位移方法,基于位置方法的智能体在进行编队时能够实时感知自身的期望中心位置并收敛到与之对应的期望位置;基于位移方法的智能体需要实时感知于邻居之间的相对位移,进而收敛到自身于邻居之间的期望中心位置之差。研究结果表明:在任意初始状态下具有非恒同速度的多智能体系统,在控制器的作用下能够使智能体以指定的角频率逐渐形成期望的圆形编队队形,且所有智能体的相位是同步或平衡的,其角频率能够渐近一致且收敛到指定的值。由5个智能体构成的系统仿真表明:在系统稳定后截取的4个周期的运动轨迹是稳定的圆周运动,并且基于位置方法模拟出来的中心位置与期望中心位置之间的误差小于0.01,基于位移方法的相对位移与期望位移之间的误差小于0.000 2,验证了编队控制方案的有效性和准确性。

In this paper,a hybrid distributed controllers is proposed for the circular formation control of a group of multi-agent systems with constant and non-identical speeds.The controller consists of two parts,one part acts on the phase of the system and the other part acts on the angular frequency,in which the controller on the angular frequency mainly coordinates the influence of the phase change and the initial angular frequency on the stability of the system.The formation design is mainly based on the phase control of the system.In this paper,two formation design schemes are given,namely,position-based approach and displacement-based approach.The agent position-based approach can perceive its expected center position in real time and converge to the corresponding expected position when a formation develops.The agent displacement-based approach needs to perceive the relative displacement between itself and its neighbors in real time,and then converge to the difference of the expected center position between itself and its neighbors.The research results show that the hybrid controller drives the agents to gradually form a desired circular formation at the specified angular frequency when the agents with constant and non-identical speeds in any initial state,and the phases of all agents are synchronous or balanced,and their angular frequencies are asymptotically synchronized and converged to the specified value.The simulation of a system composed of five agents shows the four-cycle motion trajectory intercepted is consistently circular,and the error between the simulated center position and the expected center position based on the position method is below 0.01,the error between the relative displacement and the expected displacement based on the displacement method is below 0.0002,demonstrating the accuracy and effectiveness of the formation control scheme.