基于自适应方法的三角形队形运动控制算法与仿真
riangular Motion Control Algorithm and Simulation Based on Adaptive Approach
本文研究三个智能体的运动队形控制问题。假设平面上有三个智能体，其中两个智能体作为领导者已知参考速度，另外一个智能体作为跟随者未知参考速度但能测知两个领导者在自己坐标系下相对位置和加速度信息。本文利用这些局部信息为智能体设计出基于自适应方法的控制器使得另个领导者彼此保持一定的距离以参考速度在平面上运动，跟随者和两个领导者保持预定的距离，从而形成三角形队形作为一个整体在平面上移动。最后给出仿真结果验证了算法的有效性。
his paper addresses the triangular motion control problem, where there are two leaders knowing the prescribed time-variant velocity, the other one is follower who neighbored the two leaders. The control objective is to devise a control law for the follower which enables the agents to form a triangular formation while moving as a whole with the desired velocity.A control algorithm based on adaptive approach is proposed for the follower. Simulations results are provided to check validity.
张旭
自动化技术、自动化技术设备
三角形队形运动控制自适应方法未知速度
riangular formationmotion controladaptive approachunknown velocity
张旭.基于自适应方法的三角形队形运动控制算法与仿真[EB/OL].(2015-04-10)[2025-08-19].http://www.paper.edu.cn/releasepaper/content/201504-191.点此复制
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