Collaborative Optimal Formation Control for Heterogeneous Multi-Agent Systems

被引：7
|
作者：
Li, Yandong [1 ]
Liu, Meichen [1 ]
Lian, Jiya [1 ]
Guo, Yuan [1 ]
机构：
[1] Qiqihar Univ, Coll Comp & Control Engn, Qiqihar 161000, Peoples R China
来源：
ENTROPY | 2022年 / 24卷 / 10期
基金：
中国国家自然科学基金;
关键词：
heterogeneous multi-agent system; unmanned aerial vehicle; unmanned ground vehicle; optimal control; cooperative formation control;
D O I：
10.3390/e24101440
中图分类号：
O4 [物理学];
学科分类号：
0702 ;
摘要：
In this paper, the distributed optimal control method is used to study the cooperative formation of heterogeneous multi-agents in the air-ground environment. The considered system consists of an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV). The optimal control theory is introduced into the formation control protocol, the distributed optimal formation control protocol is designed, and the stability is verified by graph theory. Furthermore, the cooperative optimal formation control protocol is designed, and the stability is analyzed using a block Kronecker product and matrix transformation theory. Through the comparison of simulation results, the introduction of optimal control theory shortens the formation time of the system and accelerates the convergence speed of the system.
引用
收藏
页数：23
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