发表机构
National University of Rosario（罗萨里奥国立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出基于能量的多智能体编队控制器，结合编队矩阵与IDA-PBC的CbI方案，设计主从式及位置型编队控制系统，经数值模拟验证了其有效性。
AI 中文摘要
本文针对平面运动中需保持特定编队且避免智能体间碰撞的多智能体机器人系统，提出一种基于能量的控制器。该控制器模拟连接智能体对的基础弹簧-阻尼模块网络，其去能状态对应期望编队，系统动力学完全由键图模型封装。通过引入采用图论方法的编队矩阵，该矩阵描述编队中智能体间的距离与相对速度，建模得到进一步增强；该矩阵在数学上表示键图的互联与能量交换结构，使其可与IDA-PBC理论的互联控制（CbI）方案对应，便于在端口哈密顿系统框架内求解编队控制问题。此外，本文提出基于CbI方案的主从式与基于位置的编队控制系统，包含对应闭环系统的稳定性分析。理论结果通过不同场景的数值模拟得到验证。
英文摘要
This paper presents an energy-based controller for a multiagent robotic system designed to achieve and maintain a specific formation while moving on a plane and avoiding collisions between agents. The controller emulates a network of elementary spring-damper modules connecting pairs of agents. This network, with its de-energized states representing the desired formation, determines the system's dynamics, which is fully encapsulated by a bond graph model. The modeling is further enhanced through the introduction of a formation matrix, using a graph-theoretic approach, that describes both the distances and relative velocities among the agents of the arrangement. This matrix mathematically represents the interconnection and energy-exchange structure of the bond graph, allowing us to put it in correspondence with the control-by-interconnection CbI-scheme of the IDA-PBC theory, facilitating the solution of the formation control problem within the port-Hamiltonian system framework. Furthermore, the paper presents leader-following and position-based formation control systems based on the CbI scheme, including a stability analysis of the corresponding closed-loop systems. The theoretical findings are validated through numerical simulations across various scenarios.
Comments14 pages, 14 Figures
