输入饱和约束下一类多智能体编队系统鲁棒一致性分析  

Robust consensus analysis for a class of multi-agent group formation with input saturation constraints

作　　者：周绍磊[1] 闫实[1] 刘伟[1] 李瑞涛[1] 

机构地区：[1]中国人民解放军海军航空工程学院控制工程系,山东烟台264001

出　　处：《电子设计工程》2015年第10期125-129,共5页Electronic Design Engineering

基　　金：国家自然科学基金(61273058)

摘　　要：针对输入饱和约束条件下具有不对称时滞的二阶多智能体编队系统的鲁棒一致性问题,本文综合利用Lyapunov-Krasovskii泛函方法和线性矩阵不等式的方法对其进行了研究。首先在n维欧氏空间中建立了二阶多智能体所组成的编队系统的数学模型;然后设计了分布式的基于一致性的具有饱和约束和不对称时滞的编队控制律;进一步,利用非线性扇区法处理了饱和项,将其转化为一种简单的非线性项,从而建立了Lyapunov-Krasovskii泛函,并利用LMI方法对编队系统进行了鲁棒一致性分析,得到了系统达到鲁棒一致时的线性矩阵不等式条件,并通过仿真分析验证了所得条件的正确性。In this paper, we research the robust consensus problems for a second-order Multi-Agent group formation with input saturation constraints and asymmetric delays using the Lyapunov-Krasovskii factional method and the LMI method. The double-integrator dynamical model with input saturation constraints is established in the n-dimensional Euclidean space. Then, according to the superposition principle the distributed consensus control algorithm for the model is designed. Further, the nonlinear sector method is used to deal with the saturated elements, then the Lyapunov-Krasovskii factional is established, then the LMI method is used to analysis the robust consensus of the formation systems. After that the LMIs conditions when the formation system is robust consensus. In the las4 the simulation proves the correctness of these idea.

关 键 词：输入饱和 时滞 鲁棒一致性 编队控制 

分 类 号：V21[航空宇航科学与技术—航空宇航推进理论与工程]