井冈山大学学报（自然科学版）Issue(1)：60-65,70,7.DOI:10.3969/j.issn.1674-8085.2014.01.013
离散多智能体系统的分布式编队跟踪控制
THE DISTRIBUTED FORMATION TRACKING CONTROL OF THE DISCRETE MULTI-AGENT SYSTEM
摘要
Abstract
We investigate the distributed formation for discrete-time multi-agent systems with a time-varying reference state in fixed directed communication topology. The multi-agent systems modeled as first-order and second-order equations are both considered. Firstly, the protocol for the first-order system is proposed, under which the agents can be able to track the time-varying reference state while maintaining the desired formation. We give a sufficient and necessary condition that the sampling period satisfies to ensure the stability. Furthermore, we study the quantitative bound of the tracking error. It is shown that the ultimate bound of the tracking error is proportional to the sampling period. The multi-agent system described as second-order equations is developed by using the same way and the velocity consensus is concerned as well. Finally, the simulation results illustrate the effectiveness of the designed protocols.关键词
多智能体系统/分布式编队控制/一致性协议/离散/参考智能体Key words
multi-agents systems/distributed formation control/consensus protocol/discrete-time/reference agent分类
信息技术与安全科学引用本文复制引用
林涛,韩娜妮,刘仰魁..离散多智能体系统的分布式编队跟踪控制[J].井冈山大学学报（自然科学版）,2014,(1):60-65,70,7.基金项目
陇东学院青年科技创新项目(XYZK1009) （XYZK1009）
