针对异构多智能体的编队控制问题，本文提出一种基于事件触发的异构多智能体编队控制算法。基于无人机和无人船的数学模型，结合事件触发机制设计观测器，且在事件触发函数中引入采样机制，可自然排除Zeno现象。基于观测器的估计信息，设计异构多智能体分布式编队控制协议。该控制算法在保证无人机和无人船形成编队的同时，减少了无人机与无人船之间的通信次数，降低了系统的通信资源消耗。本文通过Lyapunov函数证明所提出的算法满足全局渐进稳定，且通过数值仿真实验验证算法的有效性。
Aiming at the formation control problem of heterogeneous multi-agents, this paper proposes an event-triggered formation control algorithm for heterogeneous multi-agents. First, based on the mathematical model of UAVs and unmanned ships, the observer is designed in combination with the event trigger mechanism, and the sampling mechanism is introduced into the event trigger function, which can naturally eliminate the Zeno phenomenon. Then, based on the estimated information of the observer, a distributed formation control protocol for heterogeneous multi-agents is designed. This control algorithm reduces the number of communications between the UAV and the UAV, and reduces the communication resource consumption of the system while ensuring that the UAV and the UAV form a formation. In this paper, the Lyapunov function proves that the proposed algorithm satisfies the global asymptotic stability, and the effectiveness of the algorithm is verified by numerical simulation experiments.
2022,44(14): 83-88 收稿日期：2021-09-06
DOI：10.3404/j.issn.1672-7649.2022.14.019
分类号：TP13
作者简介：邓志良(1962-)，男，博士，教授，研究方向为智能控制
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