计算机工程与应用2017，Vol.53Issue(18)：39-43,5.DOI:10.3778/j.issn.1002-8331.1605-0034
多智能体系统自适应跟踪控制
Adaptive tracking control for multi-agent systems
摘要
Abstract
The leader-follower tracking problems of second-order multi-agent systems with intrinsic nonlinear dynamics are studied. It assumes that each following agent can access the relative position and velocity information with its neigh-bors, the position and velocity information of the leader is only accessed by a subset of the following agents, and the leader's non-zero reference input cannot be available by any following agents. To track the active leader, a distributed adaptive consensus protocol is proposed for each following agent in the case that the interaction relationship among agents is undi-rected connected graph. The protocol effectively avoids the uncertainty of global information. The consensus tracking problem can be transformed into the stability problem of error system. Based on the theory of Lyapunov stability and matrix theory, it gets the sufficient conditions which guarantee the system to reach a leader-follower tracking consensus. Finally, a simulation example is given to verify the effectiveness of the obtained.关键词
多智能体系统/一致性/分布式控制/自适应控制/领导者Key words
multi-agent systems/consensus/distributed control/adaptive control/leader分类
信息技术与安全科学引用本文复制引用
赵蕊,朱美玲,徐勇..多智能体系统自适应跟踪控制[J].计算机工程与应用,2017,53(18):39-43,5.基金项目
河北省自然科学基金(No.A2013202198). （No.A2013202198）
