异质多智能体系统的合围控制

Enclosing control of heterogeneous multi-agent systems

在固定有向拓扑下,研究由一阶与二阶动力学智能体组成的异质多智能体系统的合围控制问题.首先,分别针对系统内同时包含一阶动力学领航者和二阶动力学跟随者、二阶动力学领航者和一阶动力学跟随者的两种情况,共给出4种有效的控制协议;其次,综合利用代数图论、矩阵理论和稳定性分析工具,通过系统变换方法或构建误差向量法得到上述两类异质多智能体系统能够实现合围控制的判据条件;最后,通过仿真进一步验证所提出协议的有效性.

We investigate the enclosing control problem of heterogeneous multi-agent systems composed of first-order and second-order dynamical agents in fixed directed topologies.Firstly,four effective control protocols are proposed for the two cases in which the system contains both first-order dynamical leaders and second-order dynamical followers,second-order dynamical leaders and first-order dynamical followers,respectively.Then,by using algebraic graph theory,matrix theory and stability analysis tools,the criteria for the above two types of heterogeneous multi-agent systems to achieve enclosing control are obtained through the system transformation method or the error vector construction method.Finally,the effectiveness of the proposed protocols is further verified by simulations.