Paper Info
Title
Optimal Control Of Distributed Multiagent Systems With Finite-Time Group Flocking
Abstract
The flocking of multiple intelligent agents, inspired by the swarm behavior of natural phenomena, has been widely used in the engineering fields such as in unmanned aerial vehicle (UAV) and robots system. However, the performance of the system (such as response time, network throughput, and resource utilization) may be greatly affected while the intelligent agents are engaged in cooperative work. Therefore, it is concerned to accomplish the distributed cooperation while ensuring the optimal performance of the intelligent system. In this paper, we investigated the optimal control problem of distributed multiagent systems (MASs) with finite-time group flocking movement. Specifically, we propose two optimal group flocking algorithms of MASs with single-integrator model and double-integrator model. Then, we study the group consensus of distributed MASs by using modern control theory and finite-time convergence theory, where the proposed optimal control algorithms can drive MASs to achieve the group convergence in finite-time while minimizing the performance index of the intelligence system. Finally, experimental simulation shows that MASs can keep the minimum energy function under the effect of optimal control algorithm, while the intelligent agents can follow the optimal trajectory to achieve group flocking in finite time.
Year
DOI
Venue
2020
10.1002/int.22264
INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS
Keywords
DocType
Volume
finite-time convergence, group flocking, multiagent systems (MASs), optimal control, performance index
Journal
35
Issue
ISSN
Citations 
9
0884-8173
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Yize Yang122.06
Hongyong Yang24914.03
Fei Liu300.68
Li Li47624.03