带有避碰机制的2阶非线性多智能体系统包围编队研究

doi:10.3969/j.issn.1000-1093.2016.09.014

摘要/Abstract

摘要： 当前关于包围编队的研究没有考虑一定条件下跟随者之间可能出现的碰撞问题。基于图论、矩阵分析、非线性分析，研究带有避碰机制的2阶非线性多智能体系统包围编队问题，分别设计了带有避碰机制的静态和自适应包围编队协议，并结合李雅普诺夫分析方法得到包围协议稳定的充分条件。通过仿真实验验证包围编队协议的有效性。研究结果表明：协议可使跟随者的运动轨迹最终趋向以所有领导者运动轨迹张成凸包的有限半径范围内，同时所有跟随者之间距离均始终大于安全距离。当前关于包围编队的研究没有考虑一定条件下跟随者之间可能出现的碰撞问题。基于图论、矩阵分析、非线性分析，研究带有避碰机制的2阶非线性多智能体系统包围编队问题，分别设计了带有避碰机制的静态和自适应包围编队协议，并结合李雅普诺夫分析方法得到包围协议稳定的充分条件。通过仿真实验验证包围编队协议的有效性。研究结果表明：协议可使跟随者的运动轨迹最终趋向以所有领导者运动轨迹张成凸包的有限半径范围内，同时所有跟随者之间距离均始终大于安全距离。

关键词: 兵器科学与技术, 一致性问题, 包围控制, 避碰, 多智能体系统

Abstract: The containment protocol proposed in the previous researches does not take the collision among followers into consideration under certain conditions. The containment of second-order nonlinear multi-agent system with collision avoidance mechanism around formation is studied based on the graph theory, matrix analysis and nonlinear analysis. The static and adaptive protocols are proposed, respectively. Lyapunov method is used to obtain the sufficient condition for stability of protocols. The simulations are used to verify the effectiveness of the containment control protocols. The protocols can make followers’ trajectories finally converge to a finite radius from the convex hull spanned by leaders’ trajectories, and keep the distances among followers being more than the safe distances all the time.

Key words: ordnance science and technology, consensus problem, containment control, collision avoidance, multi-agent system

中图分类号:

V279⁺.2

曹昊哲，吴炎烜，周峰，王正杰. 带有避碰机制的2阶非线性多智能体系统包围编队研究[J]. 兵工学报, 2016, 37(9): 1646-1654.

CAO Hao-zhe， WU Yan-xuan， ZHOU Feng， WANG Zheng-jie. Research on Containment Control of Second-order Nonlinear Multi-agent with Collision Avoidance Mechanism[J]. Acta Armamentarii, 2016, 37(9): 1646-1654.

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