| 邱萌萌,杨浩,葛鑫,李炜.带状态预测器的多智能小车系统一致性问题研究[J].井冈山大学自然版,2017,(6):48-54 |
| 带状态预测器的多智能小车系统一致性问题研究 |
| RESEARCH ON CONSENSUS PROBLEMS OF MULTI-AGENT CAR WITH STATE PREDICTOR |
| 投稿时间：2017-05-07 修订日期：2017-08-11 |
| DOI：10.3969/j.issn.1674-8085.2017.06.011 |
| 中文关键词: 一致性理论 多智能体小车 耦合通信 收敛速度 状态预测器 |
| 英文关键词: consensus theory multi-agent car coupled communication convergence rate state predictor |
| 基金项目:国家自然科学基金项目（61071001）；安徽省高等学校自然科学研究项目（KZ00216024，KJ2017A747）安徽省教育厅自然科学基金资助项目（KJ2008A010）；安徽工程大学科研启动基金项目（S031402007）；院级重点研究项目（2016zdzr13）. |
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| 中文摘要: |
| 一致性理论作为多智能体间合作协调的基础，受到来自各个领域研究者越来越多的关注。但是，以往的控制律只利用智能个体周围的局部信息，其控制律往往是次优的。本文引入了状态预测器，将带状态预测器一致性理论应用到多智能小车系统速度一致性问题的研究中，给出了智能小车速度一致性算法，分析了多种耦合通信方式对智能小车速度一致性的影响，引入了智能小车状态预测器，最后通过欧拉公式将上述带状态预测器的控制律求解出来，设计出了智能小车的控制器，并从理论上证明了控制器的可行性，与以往的一致性算法相比，加快了智能小车演化到平衡状态的收敛速度。 |
| 英文摘要: |
| Consensus theory is the foundation of multi-agent cooperation and coordination, which has received more and more attention from researchers in various fields. However, the previous control laws use only local information of the intelligent individual surrounding, which is often suboptimal. We introduce the state predictor and apply Consensus theory with state predictor to the study on consensus speed problems of multi-agent car system. Furthermore, we give the consensus speed algorithm of multi-agent car system and analyze the influence of several coupled communication on consensus speed of multi-agent car. Compared with the previous consensus algorithm, the consensus algorithm with state predictor accelerates the convergence rate of the evolution of multi-agent car to the balance. Finally, the control law with state predictor is solved by Euler formula and the controller of Multi-Agent car is designed. The controller of multi-agent car is proved to be feasible in theory. |
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