Distributed Adaptive Multi-agent Rendezvous Control Based on Average Consensus Protocol
Distributed rendezvous control is an important issue in multi-agent collaborative control.Due to the limited mobility and perception capabilities of agents,traditional distributed rendezvous algorithms are difficult to ensure connectivity,thereby ag-gregating multiple clusters.In addition,decentralized large-scale rendezvous control poses a huge challenge to obtaining global rendezvous points.For the connectivity protection problem,based on the average consensus protocol and constraint set,a multi-agent rendezvous protocol with connectivity constraints(MARP-CC)is proposed.Then,for the rendezvous point unpredictability problem,location synthesis(LSS)and location redirection(LRS)control strategies are proposed.The agent adaptively selects the optimal control strategy for iteration based on the current connectivity situation.Finally,combining these two control strategies,a distributed adaptive multi-agent rendezvous algorithm with connectivity constraints(DAMAR-CC)is proposed.The conver-gence and connectivity analysis of the algorithm are given,and a large number of simulations show that DAMAR-CC can make agents stably rendezvous at the geometric center of the initial topology.
Average consensusConnectivity maintenanceMulti-agent rendezvousConstraint set
万方数据
维普
