Simultaneous-arrival of Multiple Agents with Different Targets

摘要：

　　In this paper,we study the simultaneous-arrival problem of multi-agent systems,where the multiple agents with distributed protocol will reach same target or different targets.We first introduce the time-estimator for each agent to arrive the target and show the convergence of the time-estimator algorithm by using Lyapunov Theory and Lasalles Invariance Principle.On this basis,we then establish the simultaneous-arrival control algorithm for multi-agent systems without obstacle.Furthermore,the simultaneous-arrival algorithm with obstacle avoidance is studied.The convergence analyses are given for the proposed simultaneous-arrival protocols.Finally,the simulation results are presented to demonstrate the effectiveness of our theoretical methods in achieving simultaneous-arrival.

关键词： Multi-agent systems Distributed control Simultaneous-arrival Time-estimator algorithm

作者: LI Rui SHI Yingjing

作者单位: School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 61 School of Aeronautics and Astronautics,University of Electronic Science and Technology of China,Chen

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1674-1679

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）