基于博弈的二阶多智能体系统分组编队
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TP273

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国家自然科学基金项目(62373205, 62033007);山东省泰山学者特聘教授人才支持计划项目(tstp20230624, ts20190930);山东省泰山学者攀登计划和青岛大学系统科学+联合攻关项目(XT2024101).


Game-based group formation control of second-order multi-agent systems
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    摘要:

    从聚合博弈的角度研究二阶多智能体系统的分组编队控制问题, 每个分组选定一个领导者, 为实现期望编队设计博弈成本函数, 研究发现二次聚合博弈的纳什均衡可以构成领导者的期望编队. 此外, 设计一种分布式算法, 使这些领导者通过寻求纳什均衡来形成期望的编队, 每个领导者对博弈的聚合函数进行估计. 进一步, 利用李雅普诺夫稳定性理论分析算法的收敛性. 与现有的编队协议相比, 采用该算法的二阶智能体在不依赖邻居位置和速度信息的情况下收敛到期望的编队. 同时, 跟随者采用不同于领导者的控制协议, 通过调整相对于邻居和领导者的位置和速度, 最终形成期望的编队. 最后, 通过一个仿真案例验证上述理论结果的有效性和可行性.

    Abstract:

    This paper investigates the group formation control problem of second-order multi-agent systems from the viewpoint of aggregative game. One leader is selected from each group, and the game cost function is designed to realize the desired formation. An interesting discovery is that the Nash equilibrium of a quadratic aggregative game constitutes the desired formation of leaders. Moreover, a distributed algorithm is designed for these leaders to form the desired formation by seeking the Nash equilibrium, where every leader estimates the aggregate of the game. Furthermore, the convergence of the algorithm is analyzed via the Lyapunov stability theory. Compared with existing formation protocols, second-order agents using this algorithm converge to the desired formation without using neighbors positions and velocities information. The followers use a control protocol different from that of leaders, and by adjusting the positions and velocities relative to neighbors and leaders, the desired formation is formed. Finally, the above theoretical results are verified by numerical simulations.

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李基贺,纪志坚.基于博弈的二阶多智能体系统分组编队[J].控制与决策,2025,40(9):2781-2789

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  • 收稿日期:2024-12-05
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  • 在线发布日期: 2025-08-08
  • 出版日期: 2025-09-20
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