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针对领航者的控制输入为非零但有界的情形,研究了具有本质非线性动态的二阶多智能体系统的协调跟踪问题.利用邻居智能体之间的相对状态信息,分别提出了具有静态和自适应控制增益的两种控制协议.针对静态控制协议情形,基于李雅普诺夫稳定性理论得到了多智能体系统的状态全局指数达到一致时控制增益所需满足的条件.此外,在自适应控制协议作用下,证明了多智能体系统不需要借助任何全局信息就可以实现协调跟踪.最后,仿真实例验证了所得理论结果的正确性.
Aiming at the situation that the pilot’s control input is non-zero but bounded, the coordination and tracking problem of the second-order multi-agent system with intrinsic nonlinear dynamics is studied. By using the relative state information between neighbor agents, And adaptive control gain.According to the Lyapunov stability theory, the conditions for the control gain of the multi-agent system to be satisfied when the state index of the multi-agent system is consistent are obtained.Furthermore, in the case of adaptive control Under the control protocol, it is proved that the multi-agent system can achieve coordination tracking without any global information.Finally, simulation examples verify the correctness of the theoretical results obtained.