| 水下多智能体系统快速编队控制 |
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| 引用本文： | 李德远,佘莹莹.水下多智能体系统快速编队控制[J].舰船科学技术,2012,34(5):67-69. |
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| 作者姓名： | 李德远 佘莹莹 |
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| 作者单位： | 1. 海军驻葫芦岛431厂军事代表室,辽宁葫芦岛,125004
2. 武汉第二船舶设计研究所,湖北武汉,430074 |
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| 摘 要： | 针对水下多智能体系统在无向网络下的快速编队问题,提出基于智能体当前和过去状态的快速编队控制算法。利用矩阵理论和频域分析法,得到该算法能使系统快速编队的过去状态区间。仿真示例验证了其有效性。
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| 关 键 词： | 水下多智能体系统 编队控制 收敛速度 |
Fast formation control for underwater multi-agent systems |
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| LI De-yuan
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SHE Ying-ying.Fast formation control for underwater multi-agent systems[J].Ship Science and Technology,2012,34(5):67-69. |
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| Authors: | LI De-yuan SHE Ying-ying |
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| Institution: | 1.The Navy Delegationin No.431 Shipyard,Huludao 125004,China; 2.Wuhan Second Ship Design and Research Institute,Wuhan 430064,China) |
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| Abstract: | For underwater multi-agent systems a fast formation control protocol uses both current states and outdated states is proposed.The fast formation control prototocl is analyzed under a undirected communication graph.Based on the frequently-domain analysis and matrix theory,it is shown that the system use the fast formation control protocol formation faster than use the standard formation control protocol if the outdated states are chosen properly.Simulation results illustrate the correctness of the result. |
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| Keywords: | underwater multi-agent systems formation control convergance rate |
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