This article addresses a coordination problem for multiagent systems over relative measurements, where agents have heterogeneous, uncertain, time-varying orientations and suffer from input disturbances. In this situation, relative measurements can be uncertainly perturbed, the direction of motion by control input can be unexpectedly fluctuated, and input disturbances will randomly drive agents. To overcome these issues, we develop a proportional-integral (PI) formation controller that completely removes formation errors, whereas PI control is generally effective to time-invariant disturbances. Here, the formation errors are evaluated according to cliques (i.e., complete subgraphs) instead of edges to provide the best performance of distributed, relative controllers. The effectiveness of the proposed controller is illustrated by a simulation.

中文翻译：

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基于派系的分布式PI控件，用于具有异构，不确定，时变方向的多智能体协调

本文针对相对度量的多代理系统提出了一个协调问题，其中代理具有不同的，不确定的，随时间变化的方向并遭受输入干扰。在这种情况下，相对测量可能会不确定地受到干扰，控制输入的运动方向可能会意外波动，并且输入干扰将随机驱动代理。为了克服这些问题，我们开发了一种比例积分（PI）编队控制器，该控制器可以完全消除编队错误，而PI控制通常对时不变扰动有效。在这里，根据团簇（即完整的子图）而不是边缘来评估编队误差，以提供分布式，相对控制器的最佳性能。仿真结果表明了所提出控制器的有效性。