Optimal internal force design for formation control of multi-agent systems
Optimal internal force design for formation control of multi-agent systems
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DOI：
10.1109/iccas.2015.7364988
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Yoichi Masuda;K. Nagase
中科院分区：
文献类型：
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作者：
Yoichi Masuda;K. Nagase
在力密度法的基础上，提出了一种积极利用自平衡条件的多智能体系统分布式协同编队控制的控制律设计方法。力密度法在结构力学中得到了广泛的应用，它使我们能够设计具有非零内力的轴压结构(张拉整体结构)的平衡。控制律是由连接各智能体的虚拟线性弹簧的势函数导出的。用力密度(单位长度的控制力)和构件常数(弹簧常数与静止长度的乘积)代替线性弹簧中的设计变量，可将设计问题描述为凸优化问题。考虑到目标编队的刚度和操纵力之间的权衡，我们选择了在稳定性约束下使切线刚度矩阵的最大特征值最小化的设计目标。数值算例表明，该方法通过引入非零内力，抑制了切线刚度矩阵的最大特征值，减少了控制力。
This paper proposes a method for designing a control law for a distributed cooperative formation control of multi-agent systems that positively utilizes self-equilibrium conditions on the basis of the force density method. The force density method is widely used in structural mechanics, and enables us to design the equilibrium of axially loaded structures (tensegrity structures) with a non-zero internal force. The control law is derived from a potential function of virtual linear springs connecting the agents. Replacing the design variables in linear springs by force density (control force per unit length) and member constant (product of spring constant and rest length), the design problems can be described as convex optimization problems. Considering the trade-off between the stiffness of target formation and the control effort, we choose a design objective to minimize the maximum eigenvalue of the tangent stiffness matrix under a constraint of stability. Numerical examples show that the proposed method suppresses the maximum eigenvalue of the tangent stiffness matrix, and decreases the control effort by introducing the non-zero internal force.