...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Automatic Control, IEEE Transactions on >Affine Formation Maneuver Control of Multiagent Systems
【24h】

Affine Formation Maneuver Control of Multiagent Systems

机译：多主体系统的仿射形成操纵控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A multiagent formation control task usually consists of two subtasks. The first is to steer the agents to form a desired geometric pattern, and the second is to achieve desired collective maneuvers so that the centroid, orientation, scale, and other geometric parameters of the formation can be changed continuously. This paper proposes a novel affine formation maneuver control approach to achieve the two subtasks simultaneously. The proposed approach relies on stress matrices, which can be viewed as generalized graph Laplacian matrices with both positive and negative edge weights. The proposed control laws can track any target formation that is a time-varying affine transformation of a nominal configuration. The centroid, orientation, scales in different directions, and even geometric pattern of the formation can all be changed continuously. The desired formation maneuvers are only known by a small number of agents called leaders, and the rest of the agents called followers only need to follow the leaders. The proposed control laws are globally stable and do not require global reference frames if the required measurements can be measured in each agent's local reference frame.
机译：多主体形成控制任务通常包含两个子任务。第一种是引导试剂形成所需的几何图案，第二种是实现所需的集体操作，以便可以连续更改地层的质心，方向，比例和其他几何参数。本文提出一种新颖的仿射形成机动控制方法，以同时实现两个子任务。所提出的方法依赖于应力矩阵，可以将其视为具有正和负边缘权重的广义图拉普拉斯矩阵。拟议的控制定律可以跟踪标称配置随时间的仿射变换的任何目标形成。重心，方向，不同方向的比例，甚至地层的几何图案都可以连续更改。所需的编队演习只有少数被称为领导者的特工知道，而其余的被称为跟随者的特工只需跟随领导者。如果可以在每个代理的本地参考框架中测量所需的测量值，则建议的控制法则是全局稳定的，并且不需要全局参考框架。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号