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无速度测量的多智能体系统旋转领航者跟踪控制问题

发表时间:2018-02-28  浏览量:779  下载量:147
全部作者: 陈磊,秦开宇
作者单位: 电子科技大学航空航天学院
摘 要: 研究多智能体系统分布式旋转目标跟踪控制问题。该系统包含一个匀速旋转的领航者及多个跟随者智能体,系统中智能体的速度信息不可传递。为实现跟随者对领航者的跟踪控制,提出二阶旋转目标跟踪控制协议,并设计速度误差估计方法:通过引入一类已知的输入变量,利用其与速度误差间的关系,间接计算出速度误差估计值;采用李雅普诺夫方法理论证明多智能体系统在该协议的驱动下,能有效实现旋转目标跟踪控制。最后,通过数值仿真验证所得结论。
关 键 词: 自动控制技术;多智能体系统;旋转领航者;跟踪控制;误差估计
Title: Rotating-leader-tracking control problem of multi-agent systems without velocity measurements
Author: CHEN Lei, QIN Kaiyu
Organization: School of Aeronautics and Astronautics, University of Electronic Science and Technology of China
Abstract: The paper studies a distributed rotating-leader-tracking control problem of multi-agent system . The multi-agent system consists of multiple follower agents and one rotating leader which could move at a constant angular velocity. For each agent, the velocities of other agents are unknown. To implement the leader tracking control of follower agents, a second-order control protocol for rotating-leader-tracking has been proposed while coming up with a velocity-error estimation method. Firstly, a class of variables with given input is introduced, and then the estimated velocity error values are calculated indirectly by using the connection between these variables and the velocity errors. Secondly, Lyapunov approach has been adopted to prove that the multi-agent system driven by the proposed protocol can achieve the rotating-leader-tracking control effectively. Finally, numeric simulation results are presented to demonstrate the theoretical results.
Key words: autocontrol technology; multi-agent system; rotating leader; tracking control; error estimation
发表期数: 2018年2月第4期
引用格式: 陈磊,秦开宇. 无速度测量的多智能体系统旋转领航者跟踪控制问题[J]. 中国科技论文在线精品论文,2018,11(4):413-420.
 
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