基于分散非线性伺服机构的多智能体系统编队控制

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI:10.1109/CDC.2003.1273002

V. Gazi

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引用次数: 12

摘要

本文研究具有一般非线性动力学的M个智能体系统的群体控制问题。我们表明，智能体沿着恒定或周期性轨迹在编队中移动的问题可以表述为非线性输出调节(伺服机制)问题，并使用已知技术解决。然后，我们考虑了具有点质量动力学的群体控制问题，并应用了该方法。文中还提供了一些数值模拟实例。

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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Formation control of a multi-agent system using decentralized nonlinear servomechanism

In this article we consider the formation control problem of a system of M agents with general nonlinear dynamics. We show that the problem of the agents moving in a formation along constant or periodic trajectories can be formulated as a nonlinear output regulation (servomechanism) problem and solved using known techniques. Then, we consider the example of formation control of agents with point mass dynamics and apply the procedure. Few illustrative numerical simulation examples are also provided.

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42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)

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