一种多智能体领航跟随编队新型控制器的设计

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。%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 de-signed.Arbitrary shape formations can be easily achieved by simply setting the follower and leader relative coordi-nates.At the same time, the coordinate rotating formula is introduced to realize the entire formation rotating accord-ingly 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 .