论文标题
强迫变分集成剂用于多代理系统的形成控制
Forced Variational Integrators for the Formation Control of Multi-Agent Systems
论文作者
论文摘要
自主剂的形成控制可以看作是与局部电位相互作用的个体的物理系统，并且可以通过拉格朗日功能来描述其进化。在本文中，我们构建并实施了强制性积分器，以形成由双重积分器建模的自主代理。特别是，我们提供了一个准确的数值集成商，其计算成本低于传统解决方案。我们发现，与代理的运动以实现所需形成的运动以及耗散的能量速率的误差估计。因此，这允许在模拟的时间步骤中提供足够的条件，以使离散系统中离散的形成控制系统（例如离散系统中的共识问题）的收敛性提供足够的条件。我们提出了实际应用，例如对基于距离的形成控制中吸引所需形状的区域的快速估计。
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced variational integrators for the formation control of autonomous agents modeled by double integrators. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions. We find error estimations for the rate of the energy dissipated along with the agents' motion to achieve desired formations. Consequently, this permits to provide sufficient conditions on the simulation's time step for the convergence of discrete formation control systems such as the consensus problem in discrete systems. We present practical applications such as the rapid estimation of regions of attraction to desired shapes in distance-based formation control.
