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Consensus and formation control of discrete-time multi-agent systems

ISSN号：1005-9784
期刊名称：Journal of Central South University of Technology
时间：2011.8.8
页码：1161-1168
分类：TP18[自动化与计算机技术—控制科学与工程;自动化与计算机技术—控制理论与控制工程] TP273.2[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
作者机构：[1]School of Information Science and Engineering, Central South University, Changsha 410083, China
相关基金：Foundation item： Projects（60474029, 60774045, 60604005） supported by the National Natural Science Foundation of China; Project supported by the Graduate Degree Thesis Innovation Foundation of Central South University, China
相关项目：高速列车（动车）多电机牵引系统的网络化控制

作者： Wang Jing|Nian Xiao-hong|Wang Hai-bo|

关键词：多代理系统, 离散时间, 控制问题, LYAPUNOV稳定性理论, 轨迹跟踪, 结构设置, 渐近收敛, 跟踪问题, multi-agent system, consensus, trajectory tracking, formation

中文摘要：

为分离时间的多代理人系统的一致问题上被集中。以便设计有效一致协议，针对保证代理人的担心的状态收敛了到普通的值，为一般分离时间的多代理人系统的一个新一致协议基于 Lyapunov 被建议稳定性理论。为有需要的轨道的分离时间的多代理人系统，轨道追踪和形成控制问题被学习。追踪问题的轨道的主要想法是设计轨道控制器以便每个代理人追踪了需要的轨道。为有固定形成结构的形成问题的一种类型，形成结构集合被介绍。根据形成结构集合，每个代理人能追踪它的单个需要的轨道。最后，模拟被提供表明理论结果的有效性。数字结果证明代理人的状态与一致协议收敛到零，它被说 asymptotically 完成一致。通过设计适当轨道控制器，另外，模拟结果证明代理人 asymptotically 收敛到需要的轨道并且能形成不同形成。

英文摘要：

Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.

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