| 引用本文: | 张青,弓志坤,杨正全,陈增强.多智能体系统的自适应群集分布式优化[J].控制理论与应用,2019,36(4):666~672.[点击复制] |
| Zhang Qing,GONG Zhi-kun,YANG Zheng-quan,CHEN Zeng-qiang.Distributed optimization for adaptive flocking of multi-agent systems[J].Control Theory and Technology,2019,36(4):666~672.[点击复制] |
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| 多智能体系统的自适应群集分布式优化 |
| Distributed optimization for adaptive flocking of multi-agent systems |
| 摘要点击 2861 全文点击 1345 投稿时间：2018-07-26 修订日期：2019-03-04 |
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| DOI编号 10.7641/CTA.2018.80562 |
| 2019,36(4):666-672 |
| 中文关键词 代价函数优化 分布式优化 自适应多智能体系统 群集 |
| 英文关键词 Cost Function Optimization Distributed Optimization Adaptive Approach Multi-Agent System Flocking |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 本文对具有非线性函数群集行为的连续时间多智能体系统的分布式优化问题进行了研究。本文的目的是
使局部代价函数之和最小。每个智能体只知道与其对应的代价函数。为了解决这一问题，本文设计了一个分布式
控制律，在这个研究中该控制律仅仅依赖于自己和邻居的速度。通过李雅普诺夫稳定性证明了多智能体系统的收
敛性，而且在最小化局部代价函数之和的同时所有智能体可以避免碰撞。最后，通过一个仿真案例来说明所获得
的分析结果。 |
| 英文摘要 |
| A distributed optimization problem is investigated for continuous-time multi-agent systems with flocking behavior of a nonlinear continuous function. This paper aims at minimizing the sum of local cost functions. Each cost function can only be known to its corresponding agent. To solve this problem, a distributed control law is designed, in which each agent depends only on its own velocities and neighbor’s velocities in this study. Then, the convergence of the multi-agent systems is proved by Lyapunov stability. Furthermore, the agents can avoid inter-agent collision while minimizing the sum of local cost functions. Finally, using a simulation case to illustrate the obtained analytical results. |