Hierarchical Distributed Control Design for Multi-agent Systems Using Approximate Simulation
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摘要: 本文主要探讨基于近似模拟的多智能体系统分布式层次控制的设计问题。为降低问题复杂度,首先建立了一个简单的抽象系统指导各智能体,继而讨论这一抽象系统和多智能体之间的模拟关系。借助于该抽象系统,给出多智能体系统完成一类协调任务的分布式层次控制器。同时利用模拟函数和共同Lyapunov函数,进一步分析了多个体系统在切换拓扑下的集体行为。Abstract: In this paper, we consider a hierarchical control design for multi-agent systems based on approximate simulation. To reduce complexity, we first construct a simple abstract system to guide the agents, then we discuss the simulation relations between the abstract system and multiple agents. With the help of this abstract system, distributed hierarchical control is proposed to complete a coordination task. By virtue of a common Lyapunov function, we analyze the collective behaviors with switching multi-agent topology in light of simulation functions.
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