摘要
针对一阶线性、二阶带有非线性项的异构多智能体系统在无向拓扑结构条件下的一致性问题,通过修改现有的一种分布式控制协议,利用图论、Lyapunov稳定性理论和Lasalle不变集理论,得出该异构智能体系统达到一致性的充分条件。使用Simulink搭建四旋翼无人机和智能小车组成的带非线性环节的异构多智能体平台,并将研究理论结果在该平台上进行验证。最终数值模拟结果表明,若满足所提条件,该异构多智能体系统在该协议下可实现一致性。
To the consistency problem of the heterogeneous multi-agent system with first-order linear and quadratic non-linear terms under the condition of undirected topology,the sufficient condition for the heterogeneous system to achieve consistency was obtained by modifying an existing distributed control protocol,and by using graph theory,Lyapunov stability theory and the theory of Lasalle invariant set.Simulink was used to build a heterogeneous multi-agent platform with nonlinear links,which was composed of quad-rotor UAVs and small intelligent vehicles. The theoretical results of this paper were verified on this platform. The final numerical simulation results showed that the heterogeneous multi-agent system could achieve consistency under this protocol if the conditions in the paper were met.
作者
虞继敏
王游司
YU Jimin;WANG Yousi(Chongqing University of Posts and Telecommunications,Chongqing 400000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第9期44-48,共5页
Electronics Optics & Control
基金
国家自然科学基金(61673079)。
