多智能体系统的时变约束问题

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2013-12-02 DOI:10.1109/ICEEE.2013.6676093

J. Santiaguillo-Salinas, E. Aranda-Bricaire

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引用次数: 3

摘要

本文研究了多智能体系统的时变约束问题。所提出的控制策略是分散的，并允许移动代理子集(称为领导者)在实现时变队形时跟踪预定轨迹。同时，移动代理的另一个子集(称为追随者)以指数方式收敛到领导者所限定的区域。给出了单轮机器人前端点的计算结果。通过数值模拟验证了理论结果。

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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Time-varying containment problem for multi-agent systems

This paper studies a time-varying version of the so-called containment problem for multi-agent systems. The proposed control strategy is decentralized and allows a subset of mobile agents (called leaders) to track a predetermined trajectory while they achieve a time-varying formation. Simultaneously, another subset of mobile agents (called followers) converge exponentially to the area bounded by the leaders. The results are presented for the front points of unicycle-type robots. The theoretical results are verified by numerical simulation.

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来源期刊

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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