【作者】 王莉； 陈增强； 刘忠信； 袁著祉；

【Author】 Wang Li 1,2,Cheng Zengqiang1,Liu Zhongxin1,Yuan Zhuzhi1 1.Department of Automatization,NanKai University,Tianjin 300071,P.R.China2.College of Computer Science and Technology,Tianjin University of Technology,Tianjin 300191,P.R.China

【机构】 南开大学自动化系； 天津理工大学计算机科学与技术学院；

【摘要】 提出一种基于势函数的、能够有效地对具有多leader的多智能体系统的运动进行控制的方法。系统的智能体分为leader和follower两种。leader智能体能够感知环境信息并受目标的吸引,而follower智能体仅受其邻居信息的影响。为使系统达到预期目标,本文通过选择适当的与环境和目标相关的势函数,对两种智能体分别设计了控制律,并进行了稳定性分析和仿真验证。更多还原

【Abstract】 A new control method based on potential function is presented,which can effectively control the movement of multi-agent system with multiple leaders.The system includes two kinds of agent: leader and follower.Leader has the knowledge about the environment and is attracted by the object,but follower is only affected by the information about the neighbor.To make the system to the anticipation,proper potential functions related to the environment and the object is chosen,and different control law is designed for the two kinds of agents,and stability analysis and simulation are made in the end.更多还原