摘要
计算机技术、网络技术和通信技术的飞速发展,推动着无人驾驶飞行器的编队控制、传感器网络的分布控制、卫星的姿态控制等多智能体系统的建模与应用的逐步深入,也吸引了越来越多的研究者致力于多智能体系统的动态编队控制的研究.研究了具有不同的通信时延和不同的输入时延的移动多智能体算法的群集运动.假设多智能体系统由n个智能体和1个Leader组成,网络连接拓扑是静态有向连通图,智能体Leader为拓扑图的全局可达节点.应用频率域的广义Nyquist判据分析了具有不同的通信时延和不同的输入时延的移动多智能体算法,应用Greshgorin圆盘定理和曲线的曲率理论研究了具有领航者的多智能体算法的群集运动,得到保证系统一致性的收敛条件.该一致性条件是一个应用节点局部信息的分散式条件,只与输入时延有关,而与通信时延无关.最后,通过计算机仿真验证了本文结论的有效性.
With the development of computer technology,network technology and communication technology,it is deeply promoted for the modeling and application of the multi-agent systems including the alignment control of unmanned air vehicles（UAVs）,the distribution control of the sensor network,and the pose control of the satellite.Recently,there are more and more researchers to bend their minds to study the dynamical alignment control of the multi-agent systems.In this paper,flocking movement of mobile multi-agents system with heterogeneous communication delays and heterogeneous input delays is studied.Suppose the multi-agent systems consist of n agents and a leader,there is a static directed interconnected graph with leader as a globally reachable node.By applying the generalized Nyquist criterion of the frequency domain,the consensus algorithm with heterogeneous communication delays and heterogeneous input delays is analyzed.By utilizing the Greshgorin＇s disc theorem and curvature theory,the flocking motion of delayed multiple-agent algorithm with leader-following is studied,and a decentralized consensus convergence condition is obtained to ensure the flocking movement of the multi-agent systems.This consensus condition applies the local information of every agent,which is dependent on input delays but independent of communication delays.Finally,computer simulation is used to show the validity of the results.
出处
《计算机研究与发展》
EI
CSCD
北大核心
2011年第2期203-208,共6页
Journal of Computer Research and Development
基金
国家自然科学基金项目(60875039
60805039)
山东省高等学校优秀青年教师国内访问学者基金项目
关键词
多智能体系统
不同时延
群集
分散式
一致性条件
multi-agent system
heterogeneous delays
flocking
decentralized
consensus condition
作者简介
Yang Hongyong, born in 1967. Received his PhD degree from Southeast University of China in 2005. He is currently a professor at the Department of Information Science and Engineering, Ludong University,Yantai, China. His current research interests include network congestion control, complex network control and multi-agent alignment control
Cao Kecai, born in 1978. Received his PhD degree from Southeast University in 2007. He is currently associate professor in the School of Automation, Nanjing University of Posts and Telecommunications,Nanjing, China. His main research interests include control of nonholonomic systems and cooperative control of multirobot systems.
Zhang Siying, born in 1925. Professor in the Institute of Complexity Science, Qingdao University of China. Academician of the Chinese Academy of Sciences. His current research focuses on non-linearsystem control, complex systems and complex science.
