【作者】 薛栋； 姚静； 余有灵； 胡俊杰；

【Author】 Xue Dong,Yao Jing,Yu Youling,Hu Junjie Tongji University,Shanghai 201804,China

【机构】 同济大学；

【摘要】 近年来,关于多智能体系统的分布式协调问题成为一个研究的热点,并且吸引了来自不同领域学者的极大关注,这些领域包括:无人驾驶飞行器,移动机器人,自动高速公路系统,卫星群编队控制,以及自动水下机器人等[3]。基于以前的研究工作,一致性问题可定义如下:在协调控制系统中,一个重要的问题是基于局部信息,如动态智能体的位置,设计正确的控制策略或协议使得所有子系统趋于某个预期的量[7-8]。总的来说,协调控制有两种主要策略:一种是集中控制,另一种是分散控制。前者要求各个智能体得到整个系统的全局信息,这会增加计算复杂度和脆弱性。另一方面,分散控制主要依赖于每个智能体的个体行为,它更有利于理论分析[6]。分布式方法运用人工势能函数,该方法具有计算简单,容易理解,以及实时性和高效性的特点,在以往的多智能体路径规划中得到了广泛的研究[1-2]。如今在基于人工势能场的控制器来研究一致性问题的大多数文章中,都遇到了处理势能场局部极小值的问题。本文利用人工势能函数来设计一致性控制器,并提出了一种有效处理势能函数局部极小值的方法。而且,许多实际多智能体系统是十分复杂的,它包括来自环境的非线性干扰,以及各智能体之间的切换耦合拓扑影响[5]。因此,本文我们讨论了具有切换拓扑和非线性关联的多智能体系统的一致性问题。基于Lyapunov函数方法,得到的结果是基于一些代数不等式的解。最后是一个数值例子及其仿真。更多还原

【Abstract】 In recent years,distributed coordination of multi-agent systems have become an active area of research and attracted the attention of multi-disciplinary researchers in a wide range including unmanned aerial vehicles,mobile robots,automated highway systems,formation control of satellite clusters,autonomous underwater vehicles,etc[3].Derived from formed work,a consensus problem is defined as follows:in cooperative control of multi-agent systems,an important issue is to design appropriate control strategies or protocols based on local information such that the position of dynamic agents to reach an agreement on certain quantities of interest [7-8].In general,there are two main control strategies for cooperative control:centralized control and decentralized control.In the first one,agents need to have global information about the whole system,which involves computational complexity and fragility.On the other hand,decentralized control is mostly relied on the behavior of each agent individually,which is available for theoretic analysis [6].The decentralized approach includes the use of some artificial potential functions(APF),which have been studied extensively for path-planning of multiple agents in the past decades,for its mathematical simplicity,ease of understanding,and good real-time and high-efficiency performances[1-2].A number of recent papers on APF-based controllers for consensus problem suffer from a common difficulty in dealing with local minima that often occur in a potential field environment.This paper uses APF to design the consensus control and proposes a new method to deal with the APF,which could solve the local minima problem effectively.Meanwhile many real multi-agent systems are complex and include nonlinear influence from the environments,the switching coupling topology among the agents [5].Therefore,in this paper we address the consensus problem of multi-agent systems with switching coupling topology and nonlinearity.Based on the Lyapunov functional method,corresponding results are derived in terms of solutions of appropriate algebraic inequalities.An example and simulation results are included.更多还原