[1]王冬梅,方华京.反馈控制策略的自适应群集运动[J].智能系统学报,2011,6(02):141-146.
 WANG Dongmei,FANG Huajing.An adaptive flocking motion with a leader based on a feedback control scheme[J].CAAI Transactions on Intelligent Systems,2011,6(02):141-146.
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第6卷
期数:
2011年02期
页码:
141-146
栏目:
出版日期:
2011-04-25

文章信息/Info

Title:
An adaptive flocking motion with a leader based on a feedback control scheme
文章编号:
1673-4785(2011)02-0141-06
作者:
王冬梅1方华京2
1.武汉科技大学 信息科学与工程学院,湖北 武汉 430081;
2.华中科技大学 控制科学与工程系,湖北 武汉 430074
Author(s):
WANG Dongmei1 FANG Huajing2
1.College of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China;
 2.Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
关键词:
多智能体系统群集运动信息反馈协调控制
Keywords:
multiAgent system flocking motion information feedback cooperative control
分类号:
TP13
文献标志码:
A
摘要:
针对有领航者的多智能体群集运动中可能出现的跟踪误差大或跟随者掉队的现象,提出了一种基于信息反馈的自适应的群集运动跟踪方法.采用邻近规则在领航者与周围邻近的跟随者之间引入双向信息流,使得领航者按事先确定的轨迹运行的同时,能根据邻近的跟随者的状态信息自适应地调节自身的运行状态.并采用李亚普诺夫方法分析了系统的稳定性,证明了该策略能减小系统的跟踪误差且对系统的机械故障和网络故障具有鲁棒性.仿真结果证明了该控制策略能提高系统的性能.
Abstract:
An adaptive flocking motion with information feedback was presentd for a leaderfollowing approach in a multiAgent system. This system may have large errors or the phenomenon of the follower falling behind. By introducing two information flows between the leader and its local neighbors, the leader can track a predefined trajectory, and at the same time, can modify its motion according to the static information of the neighboring followers. The Lyapunov approach was used to analyze the stability of the system and demonstrate that the strategy of information feedback can decrease the tracing errors and improve the robustness of the system for overcoming mechanical and network malfunctions. The results of the simulations were given to illustrate that information feedback can improve the performance of the system.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2010-05-11..
基金项目:国家自然科学基金资助项目(60574088,60874053);湖北省教育厅资助项目(Q20101105).
通信作者:王冬梅.
E-mail:wdmyou@126.com.
作者简介:
王冬梅,女,1974年生,讲师,博士,主要研究方向为网络化控制多智能体.
方华京,男,1955年生,教授,博士生导师,主要研究方向为网络化控制系统、故障诊断、鲁棒与容错控制等.
更新日期/Last Update: 2011-05-19