论文标题
关于层次多代理系统的面积受限形成的全球融合
On global convergence of area-constrained formations of hierarchical multi-agent systems
论文作者
论文摘要
本文涉及二维空间中点代理的形成形状问题，其中控制避免了反射歧义的可能性。通过考虑由距离误差和签名面积项组成的潜在功能，首先为三个或四个代理提供了一种解决此类问题的解决方案。然后，通过利用具有这种潜在功能的分层控制策略，该方法最近扩展到任何数量的代理。但是，必须在此处使用签名的区域期限的特定收益，并且不能保证全球融合。为了克服这个问题，本文为全球融合提供了必要和充分的条件，但受期望的形成仅由等离子体三角形组成的约束。这阐明了此案的签名区域上可接受的收益范围。此外，对于由任意三角形组成的编队，当签名区域上的高增益是全球收敛的可允许的时，它显示出来。
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four agents by considering a potential function which consists of both the distance error and the signed area terms. Then, by exploiting a hierarchical control strategy with such potential functions, the method was extended to any number of agents recently. However, a specific gain on the signed area term must be employed there, and it does not guarantee the global convergence. To overcome this issue, this paper provides a necessary and sufficient condition for the global convergence, subject to the constraint that the desired formation consists of isosceles triangles only. This clarifies the admissible range of the gain on the signed area for this case. In addition, as for formations consisting of arbitrary triangles, it is shown when high gain on the signed area is admissible for global convergence.
