Consensus Based Speed Control Strategies for Multi-Agent Car with State Predictor
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.This paper introduces the state predictor, applies Consensus theory with state predictor to the study on consensus speed problems of Multi-Agent car system, gives the consensus speed algorithm of Multi-Agent car system, analyzes 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.
consensus theory Multi-Agent car coupled communication convergence rate state predictor
Qu Chengming Dai Jun Jiang Ming
College of Electrical Engineering,An Hui Polytechnic University,Wuhu 241000,China
国际会议
哈尔滨
英文
554-559
2013-08-16（万方平台首次上网日期，不代表论文的发表时间）