具有有界输入领航者的二阶非线性多智能体系统的协调跟踪
发布时间：2018-08-15 13:02
【摘要】：针对领航者的控制输入为非零但有界的情形,研究了具有本质非线性动态的二阶多智能体系统的协调跟踪问题.利用邻居智能体之间的相对状态信息,分别提出了具有静态和自适应控制增益的两种控制协议.针对静态控制协议情形,基于李雅普诺夫稳定性理论得到了多智能体系统的状态全局指数达到一致时控制增益所需满足的条件.此外,在自适应控制协议作用下,证明了多智能体系统不需要借助任何全局信息就可以实现协调跟踪.最后,仿真实例验证了所得理论结果的正确性.
[Abstract]:In the case that the control input of the pilot is non-zero but bounded, the coordination and tracking problem of the second-order multi-agent system with essential nonlinear dynamics is studied. Based on the relative state information between neighbor agents, two control protocols with static control gain and adaptive control gain are proposed. In the case of static control protocol, based on Lyapunov stability theory, the condition of control gain is obtained when the global exponent of multi-agent system is consistent. In addition, under the adaptive control protocol, it is proved that the multi-agent system can achieve coordinated tracking without any global information. Finally, a simulation example is given to verify the correctness of the theoretical results.
【作者单位】： 北京航空航天大学第七研究室;
【基金】：国家“973”计划项目(2012CB821200,2012CB821201) 国家自然科学基金(61134005,61221061,61327807)资助课题
【分类号】：TP18;TP273
[Abstract]:In the case that the control input of the pilot is non-zero but bounded, the coordination and tracking problem of the second-order multi-agent system with essential nonlinear dynamics is studied. Based on the relative state information between neighbor agents, two control protocols with static control gain and adaptive control gain are proposed. In the case of static control protocol, based on Lyapunov stability theory, the condition of control gain is obtained when the global exponent of multi-agent system is consistent. In addition, under the adaptive control protocol, it is proved that the multi-agent system can achieve coordinated tracking without any global information. Finally, a simulation example is given to verify the correctness of the theoretical results.
【作者单位】： 北京航空航天大学第七研究室;
【基金】：国家“973”计划项目(2012CB821200,2012CB821201) 国家自然科学基金(61134005,61221061,61327807)资助课题
【分类号】：TP18;TP273
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