学术论文

      多智能体系统编队控制相关问题研究综述

      Survey of developments on multi-agent formation control related problems

      摘要:
      首先梳理了编队控制研究的脉络,介绍了3种经典的编队控制方法,即跟随领航者法、基于行为法和虚拟结构法的研究思想;接着综述了近年来发展的,包容了上述3种方法且基于图论的编队控制理论的研究成果,包括多智能体系统图论的建模,基于代数图论和基于刚性图论的多智能体编队控制律设计、编队构型变换等方面的研究成果;然后从图论结果出发,回顾了与编队控制密切相关的一致性、聚集/同向、群集/蜂拥和包络控制的最新进展;最后,为了促进多智能体系统在实际中的应用,指出了多智能体编队控制研究中有待解决的若干问题。
      Abstract:
      Firstly, the fundamental sequence of ideas of formation control is investigated with introductions on three classic formation control methods, i.e., the leader-follower method, the behavior based method, and the virtual structure method. In addition, the results of the recently developed graph-based method are reviewed, which embodies the above-mentioned three methods, including the modeling of multi-agent system by graphs, the algebra graph theory based and the rigid graph theory based formation control law designs and shape transformations between different formation patterns.Then, in the view of the graph theory, the recent developments of consensus, rendezvous/alignment, swarming/flocking and containment control are reviewed. Finally, towards to the practical applications, some topics which might be interesting for future investigation are raised as well.
      Author: WANG Xiang-ke LI Xun ZHENG Zhi-qiang
      作者单位: 国防科学技术大学机电工程与自动化学院,长沙,410073
      刊 名: 控制与决策 ISTICEIPKU
      年,卷(期): 2013, (11)
      分类号: TP24
      机标分类号: TP2 TP1
      在线出版日期: 2013年11月27日
      基金项目: 国防科学技术大学校预研项目