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针对带有动态领导者的多智能体系统,为了使其达到跟踪一致性,设计只依赖于相对位置信息的自适应跟踪控制律.根据接收到的相对位置信息为每个跟随者设计动态输出反馈控制律,并根据控制律估计出智能体之间的相对速度信息.在此基础上设计自适应跟踪控制律,并且通过Lyapunov稳定性理论和矩阵理论分析得到使系统达到跟踪一致性的充分条件.最后通过数值仿真验证了所提出的设计方法的有效性.
For the multi-agent system with dynamic leader, in order to achieve the consistency of tracking, an adaptive tracking control law that relies only on the relative position information is designed. Based on the received relative position information, a dynamic output feedback is designed for each follower Control law, and according to the control law, the relative velocity information between the agents is estimated. Based on this, an adaptive tracking control law is designed, and sufficient conditions for the system to achieve tracking consistency are obtained by Lyapunov stability theory and matrix theory. Finally, the effectiveness of the proposed design method is verified by numerical simulation.