Nonlinear Control for Multi-agent Formations with Delays in Noisy Environments  

作　　者：LU Xiao-Qing WANG Yao-Nan MAO Jian-Xu 

机构地区：[1]College of Electrical and Information Engineering, Hunan University

出　　处：《自动化学报》2014年第12期2959-2967,共9页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of China(61403133,61273215,61203148,61072121,61175075);International Postdoctoral Exchange Fellowship Program(20140034);Young Teachers Growth Plan of Hunan University(531107040651);China Postdoctoral Science Foundation(2013M540627);Hunan Provincial Postdoctoral Special Foundation(2013RS4042);Hunan Provincial Postdoctoral Daily Foundation(897202100);Natural Science Foundation of Hunan Province(14JJ3051);Doctoral Fund of Ministry of Education of China(20130161120016)

摘　　要：In this paper, we investigate the nonlinear control problem for multi-agent formations with communication delays in noisy environments and in directed interconnection topologies. A stable theory of stochastic delay differential equations is established and then some sufficient conditions are obtained based on this theory, which allow the required formations to be gained at exponentially converging speeds with probability one for time-invariant formations, time-varying formations, and time-varying formations for trajectory tracking under a special"multiple leaders" framework. Some numerical simulations are also given to illustrate the effectiveness of the theoretical results.In this paper, we investigate the nonlinear control problem for multi-agent formations with communication delays in noisy environments and in directed interconnection topologies. A stable theory of stochastic delay differential equations is established and then some sufficient conditions are obtained based on this theory, which allow the required formations to be gained at exponentially converging speeds with probability one for time-invariant formations, time-varying formations, and time-varying formations for trajectory tracking under a special＂multiple leaders＂ framework. Some numerical simulations are also given to illustrate the effectiveness of the theoretical results.Min-istry of Education of China （20130161120016）

关 键 词：非线性控制 噪声环境 多代理 随机延迟微分方程 延误 地层 多AGENT 时间变化 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]