量测带噪声的多个体二阶系统聚集控制

考虑在含有量测噪声情况下的二阶多个体系统聚集控制问题.目的是使得系统中每个个体根据邻居信息构造控制,在只有部分个体能够观测到目标的情况下到达目标.和以前许多多个体同步及聚集问题的研究模型中所考虑的一阶系统不同, 系统的每个个体都只能量测到其邻居个体的部分状态信息,如位置, 并且这些量测还带有噪声.根据这些信息设计了基于局部规则的分散控制律,并且证明当量测噪声和状态量测本身相关时,只要系统在任意给定的时间区域段之内能够保持联合连通,就能够实现系统对目标的跟踪和达到目标.

RENDEZVOUS OF MULTI-AGENT DOUBLE INTEGRATOR SYSTEMS WITH NOISE DISTURBED OBSERVATIONS

In this paper, we consider the rendevous problem of a multi-agent double integrators system with noise disturbed observations. The aim is to construct a local control rule based on local observations such that each agent can achieve unobserved target. Camparing with previous works, in this paper, only partial local information, such as positions, can be observed for each agent, and all these observations are disturbed with noise. A discentralized control law is given just based on these local information, and it is proven that under reasonable noise condition, if the system is jointly connected in any given time interval, then each agent will almost surely converges to the target.