中国物理B ›› 2011, Vol. 20 ›› Issue (4): 48901-048901.doi: 10.1088/1674-1056/20/4/048901

• INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY • 上一篇    下一篇

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

闫敬, 关新平, 罗小元   

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
  • 收稿日期:2010-11-01 修回日期:2010-11-26 出版日期:2011-04-15 发布日期:2011-04-15
  • 基金资助:
    Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the Key Project of the National Natural Science Foundation of China (Grant No. 60934003), the National Natural Science Foundation of China (Grant No. 61074065), the Key Project for the Natural Science Research of Hebei Education Department, China (Grant No. ZD200908), and the Key Project for the Shanghai Committee of Science and Technology (Grant No. 08511501600).

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

Yan Jing(闫敬)†, Guan Xin-Ping(关新平), and Luo Xiao-Yuan(罗小元)   

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
  • Received:2010-11-01 Revised:2010-11-26 Online:2011-04-15 Published:2011-04-15
  • Supported by:
    Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the Key Project of the National Natural Science Foundation of China (Grant No. 60934003), the National Natural Science Foundation of China (Grant No. 61074065), the Key Project for the Natural Science Research of Hebei Education Department, China (Grant No. ZD200908), and the Key Project for the Shanghai Committee of Science and Technology (Grant No. 08511501600).

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摘要： This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason's rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.

Abstract: This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason's rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.

Key words: heterogeneous multi-agent systems, pursuit, consensus, leader–follower

中图分类号:  (Computer science and technology)

  • 89.20.Ff
87.85.St (Robotics) 89.65.Ef (Social organizations; anthropology ?) 02.30.Em (Potential theory)