Leader-following多智能体网络分布式编队控制

针对多智能体固定拓扑网络,考虑无时延和有时延两种情况,研究了多智能体网络的分布式编队控制协议.首先,针对无通信时延的多智能体网络,提出了分布式编队控制协议,利用Lyapunov稳定理论,给出了协议有效的充分条件.然后,考虑时变通信时延,利用Lyapunov-Krasovskii函数证明了协议的有效性.最后,利用仿真实验证明了所设计协议的有效性.本文的创新点是对二阶多智能体网络设计分布式编队控制协议时考虑了速度一致性.

Leader-following Distributed Formation Control of Multi-agent Network

Aimed at the multi-agent fixed topology network and considered the two cases with or without time-delay,the leader-following formation control of fixed multi-agents network is studied.Firstly,the formation control protocols are proposed for the multi-agents network without communication time-delay,and the sufficient condition that the protocols satisfy is given by using the Lyapunov stability theory.Further,considering the communication time-delay,the effectiveness of the proposed protocols is illustrated by using the Lyapunov-Krasovskii function.The main contribution of the paper is that the velocity consensus is considered while designing the formation control protocols for the second-order multiagents systems.Finally,the effectiveness of the protocols is illustrated by simulation.