关键词: 多智能体系统, 分布式编队控制, 一致性协议, 离散

Abstract:

This paper investigates the distributed formation for discrete-time multi-agent systems with a time-varying reference state in fixed directed communication topology,by which the agents can be able to track the time-varying reference state while maintaining the desired formation.First,the protocol for the first-order system is proposed with the sufficient and necessary condition given for sampling stability,and then the quantitative bound of the tracking error is studied.It is shown that the ultimate bound of the tracking error is proportional to the sampling period.And the simulation results illustrate the effectiveness of the designed protocols.

Key words: multi-agents systems;distributed formation control;consensus protocol;discrete-time