[1]王中林,刘忠信,陈增强,等.一种多智能体领航跟随编队新型控制器的设计[J].智能系统学报,2014,9(03):298-306.[doi:10.3969/j.issn.1673-4785.]
　WANG Zhonglin,LIU Zhongxin,CHEN Zengqiang,et al.A kind of new type controller for multi-agent leader-follower formation[J].CAAI Transactions on Intelligent Systems,2014,9(03):298-306.[doi:10.3969/j.issn.1673-4785.]
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一种多智能体领航跟随编队新型控制器的设计(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第9卷
期数:
2014年03期
页码:
298-306
栏目:
出版日期:
2014-06-25

文章信息/Info

Title:
A kind of new type controller for multi-agent leader-follower formation
作者:
王中林1; 2;  刘忠信1; 2;  陈增强1; 2;  孙青林1; 2;  吴垠1; 2;  马争光1; 2
1. 南开大学 计算机与控制工程学院, 天津 300071;
2. 天津市智能机器人技术重点实验室, 天津 300071
Author(s):
WANG Zhonglin1; 2;  LIU Zhongxin1; 2;  CHEN Zengqiang1; 2;  SUN Qinglin1; 2;  WU Yin1; 2;  MA Zhengguang1; 2
1. College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;
2. Key Laboratory of Intelligent Robotics of Tianjin, Tianjin 300071, China
关键词:
多智能体系统; 一致性; 编队控制; 领航跟随; 机器人; 坐标旋转公式
Keywords:
multi-agent system (MAS); consensus; formation control; leader-follower; robots; coordinate rotating formula
分类号:
TP18
DOI:
10.3969/j.issn.1673-4785.
摘要:
研究了基于离散时间模型的多智能体领航跟随编队控制算法。在该算法中, 通过引入基于邻居的局部控制律以及基于邻居的状态估计规则设计了一种新型控制器, 在该控制器中通过简单地设定跟随者和领航者之间的相对坐标即可方便地实现任意形状编队, 同时该文引入了坐标旋转公式——用于实现整个队形能够随着领航者的运动方向的变化做相应旋转, 且文中分别给出了固定拓扑和切换拓扑时系统稳定编队的充分条件。最后分别通过Matlab仿真和在Amigobot机器人平台上做实验来验证该算法的正确性及实际可行性。
Abstract:
In this paper, the algorithm of formation control concerning the Leader-Follower Multi-Agent System(MAS) based on the discrete-time model is researched. By introducing the neighbor-based local control law and the neighbor-based state estimation rules, a kind of new type controller for multi-agent leader-follower formation is designed. Arbitrary shape formations can be easily achieved by simply setting the follower and leader relative coordinates. At the same time, the coordinate rotating formula is introduced to realize the entire formation rotating accordingly with changes of the direction of the movement of the leader. This paper gives two sufficient conditions for the system’s stable formation of fixed topology and switching topology, respectively. The correctness and the practical feasibility of this algorithm were verified through the MATLAB simulation and experiments were conducted using the Amigobot robot platform, respectively.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-10-08。
基金项目:国家自然科学基金资助项目(61174094);新世纪优秀人才支持计划资助项目(NCET-10-0506);天津市自然科学基金资助项目(13JCYBJC17400)
作者简介:王中林,男,1988年生,硕士研究生,主要研究方向为多智能体系统控制、微数字处理系统在通信与控制中的应用;陈增强,男,1964年生,教授、博士生导师,科技部聘任国际科技合作计划评价专家、天津市人民政府学科评议组成员、中国系统仿真学会理事、中国自动化学会控制理论与应用专业委员会委员、中国自动化学会过程控制专业委员会委员、中国优选法统筹法与经济数学研究会复杂系统专业委员会理事、天津市自动化学会理事、天津市图形图像学会理事,主要研究方向为智能预测控制、混沌系统与复杂动态网络、多智能体系统控制。
通讯作者:刘忠信,男,1975年生,教授、博士生导师,中国人工智能学会智能空天系统专业委员会委员、中国智能物联系统建模与仿真专业委员会委员,主要研究方向为多智能体系统、复杂动态网络、计算机控制与管理,lzhx@nankai.edu.cn。
更新日期/Last Update: 1900-01-01