论文标题
二阶多代理系统的最佳时间不变的编队跟踪
Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System
论文作者
论文摘要
给定一个多代理线性系统，我们将轨迹优化问题正式化并解决了轨迹跟踪，基于距离的形成控制和输入能量最小化。为此，开发了数值投影操作员牛顿的方法，以最大程度地捕获所有这些不同的任务来找到解决方案。为了稳定地层，已经设计了一个特定的潜在函数，可以获得指定的几何配置，而系统的barycenter位置和系统的速度则遵循所需的轨迹。
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator Newton's method is developed to find a solution by the minimization of a cost functional able to capture all these different tasks. To stabilize the formation, a particular potential function has been designed, allowing to obtain specified geometrical configurations while the barycenter position and velocity of the system follows a desired trajectory.
