具有时变时滞耦合的二阶多主体系统的编队控制  

Formation control for second-order multi-agent systems with time-varying delays

作　　者：来金钢[1] 陈士华[2] 路晓庆[2] 

机构地区：[1]武汉理工大学自动化学院,湖北武汉430070 [2]武汉大学数学与统计学院,湖北武汉430072

出　　处：《智能系统学报》2012年第2期135-141,共7页CAAI Transactions on Intelligent Systems

基　　金：国家"973"计划资助项目(2009CB723905);国家自然科学基金资助项目(70571059)

摘　　要：多主体系统的编队控制是一类重要的网络协同控制问题.研究了在有向连接拓扑结构下,具有时变时滞耦合的二阶多主体系统的编队控制问题.通过一种多层领导机制的框架建模,得到了时不变编队、时变编队和时变轨迹追踪3种编队问题的充分性条件,并证明了各种预期队列是以指数的收敛速度形成的.数值仿真进一步验证了理论结果的正确性,为该理论在实际中应用起到指导作用.The formation control problem for multi-agent systems is one of the most serious network cooperation control problems. The formation control problem of second-order multi-agent systems with time-varying coupling delays in directed interaction topologies was investigated. Sufficient conditions were obtained for the attainment of both time-invariant and time-varying formations as well as for time-varying formations for trajectory tracking by using a special multi-leader framework that attained the formations at exponentially converging speeds. Some numerical simulations were also conducted to validate the theoretical results in order to develop practical applications.

关 键 词：多主体系统 时变时滞 有向拓扑 编队控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]