本文選題：多Agent系統(tǒng) + 多機器人運動協(xié)作　； 參考：《自動化學(xué)報》2017年07期

【摘要】：多智能體的通用一致性協(xié)議被廣泛用于智能體的編隊控制問題中.在實際工程中,多智能體系統(tǒng)為了完成期望的協(xié)作控制,智能體之間的位置關(guān)系通常是時變的.目前,在多智能體編隊控制問題中,盡管已有研究成果能夠解決多智能體某些特殊類型的時變編隊控制,但對一般性的時變編隊還沒有成熟的研究成果.本文以受非完整性約束的平面多智能體為研究對象,提出了平面非完整性多智能體的位置時變一致性協(xié)議.實驗結(jié)果表明:本文提出的位置時變一致性協(xié)議能夠有效解決平面非完整性多智能體系統(tǒng)一般性的時變編隊問題.
[Abstract]:The general consistency protocol of multi-agent is widely used in the formation control of agents. In practical engineering, the position relationship between agents is usually time-varying in order to complete the desired collaborative control. At present, in the problem of multi-agent formation control, although some research results can solve some special types of time-varying formation control of multi-agent, there is no mature research on general time-varying formation. In this paper, a time-varying consistency protocol for planar multi-agents with non-integrity constraints is proposed. Experimental results show that the proposed position time-varying consistency protocol can effectively solve the general time-varying formation problem of planar non-integrity multi-agent systems.
【作者單位】： 哈爾濱工業(yè)大學(xué)控制理論與制導(dǎo)技術(shù)研究中心;
【基金】：國家自然科學(xué)基金(61333003,61690212)資助~~
【分類號】：TP13;TP242

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1 郭魯;蘇文明;;企業(yè)內(nèi)組織的多智能體論述[J];科技廣場;2008年02期

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