This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
详尽介绍和阐述了一种应用于W orldF IP FCS的基于对象模型的策略组态软件的研制。系统阐述了该策略组态软件的结构和组成,讨论了该策略组态软件的组态模式。提出了一种基于对象模型的FCS组态软件设计模式,详尽给出了该组态软件基于对...详尽介绍和阐述了一种应用于W orldF IP FCS的基于对象模型的策略组态软件的研制。系统阐述了该策略组态软件的结构和组成,讨论了该策略组态软件的组态模式。提出了一种基于对象模型的FCS组态软件设计模式,详尽给出了该组态软件基于对象模型的研制方法。在最后给出了一个具体的应用实例。展开更多
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
