Event-triggered distributed cross-dimensional formation control for heterogeneous multi-agent systems

IF 2.7 3区 工程技术 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
Huimin Wei, Chen Peng, Min Zhao
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引用次数: 0

Abstract

This paper concerns the event-triggered distributed cross-dimensional formation control problem of heterogeneous multi-agent systems (HMASs) subject to limited network resources. The central aim is to design an effective distributed formation control scheme that will achieve the desired formation control objectives even in the presence of restricted communication. Consequently, a multi-dimensional HMAS is first developed, where a group of agents are assigned to several subgroups based on their dimensions. Then, to mitigate the excessive consumption of communication resources, a cross-dimensional event-triggered communication mechanism is designed to reduce the information interaction among agents with different dimensions. Under the proposed event-based communication mechanism, the problem of HMAS cross-dimensional formation control is transformed into the asymptotic stability problem of a closed-loop error system. Furthermore, several stability criteria for designing a cross-dimensional formation control protocol and communication schedule are presented in an environment where there is no information interaction among follower agents. Finally, a simulation case study is provided to validate the effectiveness of the proposed formation control protocol.

异构多代理系统的事件触发分布式跨维编队控制
本文涉及网络资源有限的异构多代理系统(HMAS)的事件触发分布式跨维编队控制问题。其核心目标是设计一种有效的分布式编队控制方案,即使在通信受限的情况下也能实现预期的编队控制目标。因此,首先开发了一种多维 HMAS,其中一组代理根据其维度被分配到多个子组。然后,为了减少通信资源的过度消耗,设计了一种跨维度的事件触发通信机制,以减少不同维度的代理之间的信息交互。在所提出的基于事件的通信机制下,HMAS 跨维编队控制问题被转化为闭环误差系统的渐近稳定性问题。此外,在跟随者之间不存在信息交互的环境下,提出了设计跨维编队控制协议和通信时间表的几种稳定性标准。最后,提供了一个仿真案例研究,以验证所提编队控制协议的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Frontiers of Information Technology & Electronic Engineering
Frontiers of Information Technology & Electronic Engineering COMPUTER SCIENCE, INFORMATION SYSTEMSCOMPU-COMPUTER SCIENCE, SOFTWARE ENGINEERING
CiteScore
6.00
自引率
10.00%
发文量
1372
期刊介绍: Frontiers of Information Technology & Electronic Engineering (ISSN 2095-9184, monthly), formerly known as Journal of Zhejiang University SCIENCE C (Computers & Electronics) (2010-2014), is an international peer-reviewed journal launched by Chinese Academy of Engineering (CAE) and Zhejiang University, co-published by Springer & Zhejiang University Press. FITEE is aimed to publish the latest implementation of applications, principles, and algorithms in the broad area of Electrical and Electronic Engineering, including but not limited to Computer Science, Information Sciences, Control, Automation, Telecommunications. There are different types of articles for your choice, including research articles, review articles, science letters, perspective, new technical notes and methods, etc.
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