论文标题
强迫变分积分器，用于基于距离的形状控制，并具有多代理系统的植入行为
Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems
论文作者
论文摘要
一个旨在实现基于远程形状控制的多机构系统，可以将其视为由拉格朗日功能描述的机械系统，并受到其他外力的影响。强制变分集成剂是通过对受外部力的系统的Lagrange-d'Alembt原理的离散化来给出的，并证明对复杂动力学系统的数值模拟研究有用。我们得出了强制变异积分器，这些积分器可以在控制算法的背景下用于基于距离的形状，并具有速度共识。特别是，我们提供了一个准确的数值集成符，其计算成本低于传统解决方案，同时保留了配置空间和对称性。在具有双重整合器动力学的任意数量的代理的情况下，我们还为集成方案提供了明确的表达。为了对性能进行数值比较，我们使用由三种自主剂组成的平面形成。
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.
