提高引导跟随编队控制性能的分布式目标分配策略
Distributed goal assignment strategy for improving leader-following formation control performance
摘要：
研究了二阶多智能体系统中领导跟随编队控制的分布式目标分配问题。假设每个代理可以与通信范围内的附近代理通信，并且领导者信息仅对代理的子集可用。与现有的编队控制方案解决的目标分配问题相比，本文的主要贡献是构建了一个新的分布式分配策略，分配适当的目标位置的智能体的领导者跟随编队控制框架。基于李雅普诺夫稳定性理论的严格分析，证明了所提出的分配策略对控制性能的提高。为了证明我们的理论结果的有效性，两个例子，包括多个四旋翼进行了仿真。
英文摘要：
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the leader information is only available to a subset of agents. Compared with existing formation control schemes addressing the goal assignment issue, the main contribution of this paper is to construct a novel distributed assignment strategy allotting appropriate goal positions of agents in the leader-following formation control framework. Based on the rigorous analysis using the Lyapunov stability theory, the enhancement of the control performance is proved via the proposed assignment strategy. To demonstrate the effectiveness of our theoretical results, two examples including multiple quadrotors are simulated.
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。
