Cooperative control of multi-agent dynamical systems in target-enclosing operations using cyclic pursuit strategy
Cooperative control of multi-agent dynamical systems in target-enclosing operations using cyclic pursuit strategy
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DOI：
10.1080/00207179.2010.504784
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发表时间：
2010-09
影响因子：
2.1
通讯作者：
Tae-Hyoung Kim;S. Hara;Yutaka Hori
中科院分区：
文献类型：
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作者：
Tae-Hyoung Kim;S. Hara;Yutaka Hori
研究了多个同构动态智能体分布式协同控制的编队稳定性问题。为此，我们首先提出了一种基于循环追踪方案的在线路径发生器设计方法。然后，我们提供了李雅普诺夫和渐近稳定性条件，应持有上述路径生成法。这些条件是基于一个简单的线性系统的稳定性分析方法与广义频率变量。基于循环追踪的分布式在线路径生成器满足推导出的稳定性条件，保证了所需的全局收敛性能与理论的严谨性相结合的形成控制方案。此外，为了清楚地显示其独特的功能，我们提出了如何分析多智能体系统的全局编队稳定性，其中每个智能体被建模为一类二阶系统，并通过比例微分（PD）控制器局部稳定。一些仿真例子说明了所提出的方法和所需的追求模式的实现的显着特点。
This article is concerned with formation stability analysis of distributed cooperative control for target-enclosing operations by multiple homogeneous dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide Lyapunov and asymptotic stability conditions which should hold for the above path generation laws. These conditions are derived based on a simple stability analysis method for linear systems with a generalised frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability conditions guarantees the required global convergence property with theoretical rigour. Furthermore, in order to show its distinctive features clearly, we present how to analyse a global formation stability for multi-agent systems, where each agent is modelled as a class of second-order systems and is locally stabilised by a proportional-derivative (PD) controller. Some simulation examples illustrate the distinctive features of the proposed method and the achievement of a desired pursuit pattern.