一类具有输入饱和约束的智能群体编队稳定性分析  

The Stability Analysis for a Class of Multi-agent Group Formation with Input Saturation Constraints

作　　者：周绍磊[1] 闫实[1] 李瑞涛[1] 

机构地区：[1]海军航空工程学院控制工程系,烟台264001

出　　处：《战术导弹技术》2015年第2期83-89,95,共8页Tactical Missile Technology

基　　金：国家自然科学基金(61273058)

摘　　要：为研究输入饱和约束对多智能体编队稳定性的影响,建立了具有输入饱和约束二阶智能体的运动模型,并设计了相应的具有饱和约束分布式编队控制律。进一步推导出输入饱和约束下编队形成并保持的充要条件。然后,利用对角矩阵方法处理饱和约束,并利用系统特征值法和代数图论的方法研究输入饱和约束对编队稳定性的影响。结果表明,在满足编队形成并保持的条件下,输入饱和约束会减缓编队形成的速度。Aiming to research the effects of input saturation constraints on the stability of multi-agent group formation, the dynamical model of the second-order agent with input saturation constraints is estab- lished, and the decentralized formation control law for the model is designed. Further, the sufficient and necessary condition of how the formation can be built and maintained with input saturation constraints is introduced. The diagonal matrixes are used to handle the input saturation constraints. Using system ei- genvalues method and algebra-graph theory, the effects of input saturation constraints on the formation stability are analyzed. The results show that, when the formation is built and maintained, input saturation constraints will slow down the formation process.

关 键 词：智能体 编队控制 输入饱和约束 

分 类 号：V21[航空宇航科学与技术—航空宇航推进理论与工程]