Dynamic Generation and Control of Optimally Persistent Formation for Multi-agent Systems
-
摘要: 研究了多智能体系统中最优持久编队生成算法,并根据对应的通信拓扑设计了最优持久编队的运动控制算法.首先,提出了基础圈概念,通过有向增加顶点操作,研究了基础圈为三角形或包含部分四边形的最优持久编队的分布式生成算法;在此基础上,考虑到持久编队中单向通信邻居的状态信息,设计了基于距离的最优持久编队运动控制算法.最后,仿真研究验证了所提算法的有效性.Abstract: This paper presents an algorithm for the generation of optimally persistent formation in multi-agent systems (MASs), and designs control laws for the formation according to its communication topology. Firstly, the notion of basic circle is put forward. By the operation of directed vertex addition, a decentralized algorithm for the generation of optimally persistent formation is presented, whose basic circles are triangles or quadrangles. Then, considering the state information of neighbors in unilateral communication, control laws for the motion of optimally persistent formation are designed. Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithms.
-
Key words:
- Multi-agent /
- formation /
- optimally persistent formation /
- decentralized control
-
[1] Lin P, Jia Y M. Distributed rotating formation control of multi-agent systems. Systems and Control Letters, 2010, 59(10): 587-595 [2] Hong Y G, Hu J P, Gao L X. Tracking control for multi-agent consensus with an active leader and variable topology. Automatica, 2006, 42(7): 1177-1182 [3] Lu X Q, Austin F, Chen S H. Flocking in multi-agent systems with active virtual leader and time-varying delays coupling. Communications in Nonlinear Science and Numerical Simulation, 2011, 16(2): 1014-1026 [4] Luo X Y, Li S B, Guan X P. Flocking algorithm with multi-target tracking for multi-agent systems. Pattern Recognition Letters, 2010, 31(9): 800-805 [5] Yan J, Guan X P, Luo X Y, Yang X. Consensus and trajectory planning with input constraints for multi-agent systems. Acta Automatica Sinica, 2012, 38(7): 1074-1082 [6] Yu Hong-Wang, Zheng Yu-Fan. Dynamic behavior of multi-agent systems with distributed sampled control. Acta Automatica Sinica, 2012, 38(3): 357-365(余宏旺, 郑毓蕃. 多智能体系统在分布式采样控制下的动力学行为. 自动化学报, 2012, 38(3): 357-365) [7] Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 2004, 49(9): 1520-1533 [8] Ren W, Beard R W. Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Transactions on Automatic Control, 2005, 50(5), 655-661 [9] Olfati-Saber R. Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Transactions on Automatic Control, 2006, 51(3): 401-420 [10] Hendrickx J M, Anderson B D O, Blondel V D. Rigidity and persistence of directed graphs. In: Proceedings of the 44th IEEE Conference on Decision and Control. Seville, Spain: IEEE, 2005. 2176-2181 [11] Laman G. On graphs and rigidity of plane skeletal structures. Journal of Engineering Mathematics, 1970, 4(4): 331-340 [12] Hendrickx J M, Fidan B, Yu C, Anderson B D O, Blondel V D. Formation reorganization by primitive operations on directed graphs. IEEE Transactions on Automatic Control, 2008, 53(4): 968-979 [13] Smith B S, Egerstedt M, Howard A. Automatic generation of persistent formations for multi-agent networks under range constraints. Mobile Networks and Applications, 2009, 14(3): 322-335 [14] Hendrickx J M, Fidan B, Yu C B, Anderson B D O, Blondel V D. Elementary operations for the reorganization of minimally persistent formations. In: Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems. Kyoto, Japan: IEEE, 2006. 859-873 [15] Luo X Y, Li S B, Guan X P. Automatic generation of min-weighted persistent formations. Chinese Physics B, 2009, 18(8): 3104-3114 [16] Ren R, Zhang Y Y, Luo X Y, Li S B. Automatic generation of optimally rigid formations using decentralized methods. International Journal of Automation and Computing, 2010, 7(4): 557-564 [17] Anderson B D O, Yu C B, Dasgupta S, Morse A S. Control of a three-coleader formation in the plane. Systems and Control Letters, 2007, 56(9-10): 573-578 [18] Cao M, Anderson B D O, Morse A S, Yu C B. Control of acyclic formations of mobile autonomous agents. In: Proceedings of the 47th IEEE Conference on Decision and Control. Cancun, Mexico: IEEE, 2008. 1187-1192 [19] Guo J, Lin Z Y, Cao M, Yan G F. Adaptive leader-follower formation control for autonomous mobile robots. In: Proceedings of the 2010 American Control Conference. Baltimore, USA: AACC, 2010. 6822-6827 [20] Luo X Y, Liu D, Guan X P, Li S B. Flocking in target pursuit for multi-agent systems with partial informed agents. IET Control Theory and Applications, 2012, 6(4): 560-569
点击查看大图
计量
- 文章访问数: 1862
- HTML全文浏览量: 136
- PDF下载量: 1610
- 被引次数: 0