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针对在多智能体系统的通信网络中需要对交换信息进行量化的客观情况,研究基于量化信息的二阶多智能体系统蜂拥控制问题.首先,假设多智能体系统采用一致量化器对速度和位置信息进行量化,并且有一个虚拟领导者沿着固定方向匀速运动;然后,设计基于量化信息的多智能体蜂拥控制输入,并利用非平滑系统的Lyapunov稳定性判据和不变集原理证明系统的稳定性;最后,利用Matlab对多智能体系统在二维平面上的蜂拥运动进行仿真实验,仿真结果验证了理论分析的正确性.
In order to quantify the exchange information in the communication network of multi-agent systems, this paper studies the problem of flocking control of second-order multi-agent systems based on quantitative information.Firstly, assuming that the multi-agent system adopts a uniform quantizer to measure the speed and position Information is quantified, and a virtual leader moves at a constant speed along a fixed direction. Then, a multi-agent flocking control input based on quantitative information is designed. Based on Lyapunov stability criterion and invariant set theory of non-smooth systems, Stability; Finally, using Matlab to simulate the flocking movement of multi-agent system in two-dimensional plane, the simulation results verify the correctness of the theoretical analysis.