多智能体系统的集体圆周运动：同步与平衡编队的二阶旋转动力学
Collective Circular Motion of Multi-Agent Systems in Synchronized and Balanced Formations With Second-Order Rotational Dynamics
AI总结：
本文研究多智能体系统在同步或平衡编队中以规定角速度绕不同或共同圆周运动的问题，提出基于二阶旋转动力学的反馈控制策略，通过仿真验证理论成果。
摘要：
本文考虑多智能体系统集体圆周运动问题，要求所有智能体以规定角速度绕不同或共同圆周运动，并通过同步或平衡方式实现。在同步中，智能体与质心具有相同速度方向，而在平衡中，智能体运动使质心位置保持不变。初始时，智能体以单位速度绕不同角速度的圆周运动。假设智能体受有限通信约束，并根据时间不变的无向图交换相对信息。通过考虑智能体的二阶旋转动力学，为这些运动协调任务设计合适的反馈控制律。仿真结果用于验证理论发现。
英文摘要：
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective motions with the heading angles of the agents synchronized or balanced. In synchronization, the agents and their centroid have a common velocity direction, while in balancing, the movement of agents causes the location of the centroid to become stationary. The agents considered are initially moving at unit speed around individual circles at different angular velocities. It is assumed that the agents are subjected to limited communication constraints, and exchange relative information according to a time-invariant undirected graph. We present suitable feedback control laws for each of these motion coordination tasks by considering a second-order rotational dynamics of the agent. Simulations are given to illustrate the theoretical findings.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
