{"title":"多智能体系统的群集跟踪控制","authors":"E. Joelianto, A. Sagala","doi":"10.1109/CCSII.2012.6470477","DOIUrl":null,"url":null,"abstract":"The paper presents swarm tracking control for flocking of multi-agent autonomous helicopter models. The flocking is defined for a triangular shape without a leader and implemented by using swarm tracking concept. The flocking control design consists of two controllers, i.e. the swarm controller that generates a swarm center and the tracking controller that tracks the swarm center. The tracking controller for each agent is designed by using the standard linear quadratic method. The weighting matrices in the performance quadratic index, the proportional-derivative (PD) controller and the parameters of the swarm model determine the transient performances of the flocking formation.","PeriodicalId":389895,"journal":{"name":"2012 IEEE Conference on Control, Systems & Industrial Informatics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Swarm tracking control for flocking of a multi-agent system\",\"authors\":\"E. Joelianto, A. Sagala\",\"doi\":\"10.1109/CCSII.2012.6470477\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents swarm tracking control for flocking of multi-agent autonomous helicopter models. The flocking is defined for a triangular shape without a leader and implemented by using swarm tracking concept. The flocking control design consists of two controllers, i.e. the swarm controller that generates a swarm center and the tracking controller that tracks the swarm center. The tracking controller for each agent is designed by using the standard linear quadratic method. The weighting matrices in the performance quadratic index, the proportional-derivative (PD) controller and the parameters of the swarm model determine the transient performances of the flocking formation.\",\"PeriodicalId\":389895,\"journal\":{\"name\":\"2012 IEEE Conference on Control, Systems & Industrial Informatics\",\"volume\":\"16 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE Conference on Control, Systems & Industrial Informatics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCSII.2012.6470477\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE Conference on Control, Systems & Industrial Informatics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCSII.2012.6470477","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Swarm tracking control for flocking of a multi-agent system
The paper presents swarm tracking control for flocking of multi-agent autonomous helicopter models. The flocking is defined for a triangular shape without a leader and implemented by using swarm tracking concept. The flocking control design consists of two controllers, i.e. the swarm controller that generates a swarm center and the tracking controller that tracks the swarm center. The tracking controller for each agent is designed by using the standard linear quadratic method. The weighting matrices in the performance quadratic index, the proportional-derivative (PD) controller and the parameters of the swarm model determine the transient performances of the flocking formation.
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