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为实现多智能体系统的构形控制,针对二阶多智能体系统,采用了一种基于智能体行为的控制算法,这种控制算法考虑到智能体的驶向目标行为和构形维持行为,可以有效实现智能体相对于期望目标的构形控制,由于采用该算法使得多智能体系统中有明确的队形反馈,因而有利于分布式控制和实时控制。智能体的动力学模型采用多智能体问题研究广泛使用的独轮车模型,通过反馈线性化方法,将这种非线性模型转化成了实用的双积分系统模型。通过Matlab仿真验证了算法的有效性,结果表明控制器参数整定简单,具有很好的稳定性和鲁棒性。
In order to realize the configuration control of multi-agent system, a control algorithm based on agent behavior is proposed for the second-order multi-agent system. This control algorithm takes into account the agent’s behavior toward the target and the configuration maintenance. Which can effectively realize the configuration control of the agent with respect to the desired object. Because of the explicit formation feedback in the multi-agent system, the algorithm is advantageous to distributed control and real-time control. The dynamics model of the agent adopts the wheelbarrow model which is widely used in the study of multi-agent problem, and transforms this nonlinear model into a practical model of the double-integral system through the feedback linearization method. The effectiveness of the algorithm is verified by Matlab simulation. The results show that the tuning of the controller parameters is simple, with good stability and robustness.