【摘要】：針對領(lǐng)航者的控制輸入為非零但有界的情形,研究了具有本質(zhì)非線性動態(tài)的二階多智能體系統(tǒng)的協(xié)調(diào)跟蹤問題.利用鄰居智能體之間的相對狀態(tài)信息,分別提出了具有靜態(tài)和自適應(yīng)控制增益的兩種控制協(xié)議.針對靜態(tài)控制協(xié)議情形,基于李雅普諾夫穩(wěn)定性理論得到了多智能體系統(tǒng)的狀態(tài)全局指數(shù)達(dá)到一致時控制增益所需滿足的條件.此外,在自適應(yīng)控制協(xié)議作用下,證明了多智能體系統(tǒng)不需要借助任何全局信息就可以實現(xiàn)協(xié)調(diào)跟蹤.最后,仿真實例驗證了所得理論結(jié)果的正確性.
[Abstract]:In the case that the control input of the pilot is non-zero but bounded, the coordination and tracking problem of the second-order multi-agent system with essential nonlinear dynamics is studied. Based on the relative state information between neighbor agents, two control protocols with static control gain and adaptive control gain are proposed. In the case of static control protocol, based on Lyapunov stability theory, the condition of control gain is obtained when the global exponent of multi-agent system is consistent. In addition, under the adaptive control protocol, it is proved that the multi-agent system can achieve coordinated tracking without any global information. Finally, a simulation example is given to verify the correctness of the theoretical results.
【作者單位】： 北京航空航天大學(xué)第七研究室;
【基金】：國家“973”計劃項目(2012CB821200,2012CB821201) 國家自然科學(xué)基金(61134005,61221061,61327807)資助課題
【分類號】：TP18;TP273

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