摘要
针对非矩形有界空间中多智能体协调运动和协作控制问题,创新提出了一种适用于无速度反馈条件下多智能体在有界空间中的一致性算法。通过引入镜像速度和镜像位置矩阵的概念,采用状态观测方法估算出镜像速度,经过化简得到无速度反馈控制的一致性算法模型,并利用Lyapunov稳定性理论分析了该控制模型的稳定性。利用数值仿真验证了算法的可行性和有效性。
A consistency algorithm for multi-agent coordinated motion and collaborative control in bounded space without velocity feedback is innovatively proposed for non-rectangular bounded space.By introducing the concepts of mirror speed and mirror position matrix,the mirror speed is estimated using state observation method.After simplification,a consistency algorithm model without speed feedback control is obtained,and the stability of the control model is analyzed using Lyapunov stability theory.Finally,the feasibility and the effectiveness of the algorithm are verified through numerical simulation.
作者
朱德政
ZHU Dezheng(The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China)
出处
《火力与指挥控制》
北大核心
2025年第11期135-140,共6页
Fire Control & Command Control
关键词
多智能体
有界空间
无速度反馈
一致性算法
状态观测
multi-agent
bounded space
without velocity feedback
consistency algorithm
state observation
