多智能体最优持久编队动态生成与控制

罗小元; 邵士凯; 关新平; 赵渊洁

doi:10.3724/SP.J.1004.2013.01431

多智能体最优持久编队动态生成与控制

doi: 10.3724/SP.J.1004.2013.01431

1.
燕山大学电气工程学院秦皇岛 066004;
2.
上海交通大学电子信息与电气工程学院上海 200240;
3.
天津理工大学计算机与通信工程学院天津 300384

基金项目:

国家重点基础研究发展计划(973计划) (2010CB731800); 国家自然科学基金(61074065);河北省自然科学基金(F2012203119)资助

详细信息

作者简介:
罗小元燕山大学电气工程学院教授.2005年于燕山大学获得博士学位. 主要研究方向为多智能体协调控制,网络系统预测控制. E-mail: xyluo@ysu.edu.cn

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- 文章访问数: 1999
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出版历程
- 收稿日期: 2012-04-09
- 修回日期: 2012-07-25
- 刊出日期: 2013-09-20

Dynamic Generation and Control of Optimally Persistent Formation for Multi-agent Systems

1.
Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004;
2.
School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240;
3.
School of Computer and Communication Engineering, Tianjin University of Technology, Tianjin 300384

Funds:

Supported by National Basic Research Program of China (973 Program) (2010CB731800), National Natural Science Foundation of China (61074065), and Natural Science Foundation of Hebei Province (F2012203119)

摘要

摘要: 研究了多智能体系统中最优持久编队生成算法,并根据对应的通信拓扑设计了最优持久编队的运动控制算法.首先,提出了基础圈概念,通过有向增加顶点操作,研究了基础圈为三角形或包含部分四边形的最优持久编队的分布式生成算法;在此基础上,考虑到持久编队中单向通信邻居的状态信息,设计了基于距离的最优持久编队运动控制算法.最后,仿真研究验证了所提算法的有效性.
- 多智能体 /
- 编队 /
- 最优持久编队 /
- 分布式控制
Abstract: This paper presents an algorithm for the generation of optimally persistent formation in multi-agent systems (MASs), and designs control laws for the formation according to its communication topology. Firstly, the notion of basic circle is put forward. By the operation of directed vertex addition, a decentralized algorithm for the generation of optimally persistent formation is presented, whose basic circles are triangles or quadrangles. Then, considering the state information of neighbors in unilateral communication, control laws for the motion of optimally persistent formation are designed. Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithms.
- Multi-agent /
- formation /
- optimally persistent formation /
- decentralized control

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参考文献(20)

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文章访问数: 1999
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PDF下载量: 1648
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多智能体最优持久编队动态生成与控制

doi: 10.3724/SP.J.1004.2013.01431

作者简介:
罗小元燕山大学电气工程学院教授.2005年于燕山大学获得博士学位. 主要研究方向为多智能体协调控制,网络系统预测控制. E-mail: xyluo@ysu.edu.cn

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Dynamic Generation and Control of Optimally Persistent Formation for Multi-agent Systems

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留言板

多智能体最优持久编队动态生成与控制

doi: 10.3724/SP.J.1004.2013.01431

作者简介: 罗小元 燕山大学电气工程学院教授.2005年于燕山大学获得博士学位. 主要研究方向为多智能体协调控制,网络系统预测控制. E-mail: xyluo@ysu.edu.cn

计量

出版历程

Dynamic Generation and Control of Optimally Persistent Formation for Multi-agent Systems

计量

出版历程

目录

作者简介:
罗小元燕山大学电气工程学院教授.2005年于燕山大学获得博士学位. 主要研究方向为多智能体协调控制,网络系统预测控制. E-mail: xyluo@ysu.edu.cn