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Modification and Comparative Analysis of Smooth Control Laws for a Group of Agents

机译:一组智能体的平滑控制律的修正与比较分析

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We consider the control problem for a group containing a given number of uninformed agents; this is a consensus problem. An agent's model is defined by a two-dimensional integrator. The purpose of this work is to synthesize a decentralized smooth law of the agents' motion in a multiagent system that would let us construct and support a prescribed configuration of the group of agents. The considered group should follow the leader, either real or virtual. Informational links between agents are given by a communications digraph. The work shows numerical results for various initial conditions and various desired trajectories.
机译:我们考虑一个包含给定数目的未通知代理的组的控制问题。这是一个共识问题。代理模型由二维积分器定义。这项工作的目的是在多智能体系统中合成智能体运动的分散平滑定律,这将使我们能够构建和支持智能体组的指定配置。考虑的小组应跟随领导者,无论是真实的还是虚拟的。代理人之间的信息链接由通信图给出。这项工作显示了各种初始条件和各种期望轨迹的数值结果。

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