字符串的无碰撞与去中心化编队控制
Collisionless and Decentralized Formation Control for Strings
AI总结：
提出一种受车辆队列启发的去中心化反馈控制器，实现多智能体系统的无碰撞轨迹、速度共识聚集及预设距离模式渐近收敛，并通过严格动力学分析与数值测试验证。
摘要：
受车辆队列行驶启发，提出了一种用于多智能体系统的去中心化反馈控制器。由去中心化控制作用产生的闭环具有三个显著特征：生成无碰撞轨迹、系统向速度共识状态的聚集，以及渐近收敛到预设的智能体间距离模式。针对每个特征，提供了严格的动力学分析，从而刻画了保证碰撞避免、聚集和模式形成的参数集和初始配置集。数值测试评估了所提出的理论结果。
英文摘要：
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented.
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。
