群体系统的协调控制.pdfVIP

群体系统的协调控制 摘 要 结群运动(flocking motion)是自然界中常见的现象。通过对群体系统的研究,我 们能够精确或较为精确地解释自然界中生物群体的协作行为和自组织现象,了解群 体内部单个个体的动力学原理和个体之间的相互作用机制。本文考虑群体系统的协 调控制问题。针对质点动力学模型,设计了基于个体之间局部状态信息的控制律, 使得整个个体群按照期望的速度运动,并且最终个体之间能保持恒定的距离。为了 实现最终控制目标,文中引入了一个虚拟的领航者来引导群体的运动,给出的控制 律能够确保每个个体的速度趋向于所期望的速度,个体群最终形成不变的稳定构形, 同时控制律保证了运动过程中群内个体之间不会发生碰撞。最后,给出了一个仿真 实例,对理论结果进行了验证。 关键词：群体系统,协调控制,结群运动,代数图理论,稳定性 I 群体系统的协调控制 Abstract Flocking motion is a common phenomenon in the nature. Through the study of swarm system, we can accurately or comparatively accurately explain the cooperation behavior and the oneself-organized phenomenon of the biological swarm in the nature, and moreover, understand the interaction mechanism and operational principles between the agents in the swarm. This paper considers the coordination control of a group of mobile agents moving in Euclidean space with point mass dynamics. A set of local control laws are designed to make all agents eventually move with the desired constant velocity and maintain constant distances between the agents. In order to achieve the control objective, a virtual leader is introduced to guide the motion of the agent group. The control laws provided in this paper can guarantee each agent’s velocity to asymptotically approach the desired velocity and make the group finally form steady configuration. At the same time, the control laws can guarantee the avoidance of collisions between the agents in the swarm system. Finally, a numerical simulation is given to illustrate the theoretical results. Key words ：Swarm