Decentralized Flocking Protocol of Multi-agent Systems with Predictive Mechanisms

被引：0

作者：

Zhan Jingyuan ^{[1
]}

Li Xiang ^{[1
]}

机构：

[1] Fudan Univ, Dept Elect Engn, Adapt Networks & Control Lab, Shanghai 200433, Peoples R China

来源：

2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年

关键词：

Flocking; Multi-agent system; Decentralized predictive control; Convergence rate; Lattice regularity; CONSENSUS; NETWORKS; AGENTS; COORDINATION; ALGORITHMS; STABILITY; BEHAVIOR;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel decentralized predictive flocking protocol of discrete-time multi-agent systems, where every agent is driven by a predictive controller with the local information of its neighbors. The feasibility of the decentralized protocol and system convergence is demonstrated by numerical simulations, wherethe effects of sampling period, prediction horizon and control horizon, the three parameters for predictive controllers, on the flocking performance are verified with the supportive illustrations of convergence rate and lattice regularity.

引用

页码：5995 / 6000

页数：6

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