非完整性约束的平面多智能体位置时变一致性控制

发布时间：2018-07-10 09:08

本文选题：多Agent系统 + 多机器人运动协作　；参考：《自动化学报》2017年07期

【摘要】：多智能体的通用一致性协议被广泛用于智能体的编队控制问题中.在实际工程中,多智能体系统为了完成期望的协作控制,智能体之间的位置关系通常是时变的.目前,在多智能体编队控制问题中,尽管已有研究成果能够解决多智能体某些特殊类型的时变编队控制,但对一般性的时变编队还没有成熟的研究成果.本文以受非完整性约束的平面多智能体为研究对象,提出了平面非完整性多智能体的位置时变一致性协议.实验结果表明:本文提出的位置时变一致性协议能够有效解决平面非完整性多智能体系统一般性的时变编队问题.
[Abstract]:The general consistency protocol of multi-agent is widely used in the formation control of agents. In practical engineering, the position relationship between agents is usually time-varying in order to complete the desired collaborative control. At present, in the problem of multi-agent formation control, although some research results can solve some special types of time-varying formation control of multi-agent, there is no mature research on general time-varying formation. In this paper, a time-varying consistency protocol for planar multi-agents with non-integrity constraints is proposed. Experimental results show that the proposed position time-varying consistency protocol can effectively solve the general time-varying formation problem of planar non-integrity multi-agent systems.
【作者单位】：哈尔滨工业大学控制理论与制导技术研究中心;
【基金】：国家自然科学基金(61333003,61690212)资助~~
【分类号】：TP13;TP242

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