多智能体编队在时延约束下的动态跟踪控制  

Dynamic Tracking Control for the Multi-agent Formation Via Time Delay

作　　者：戴国忠[1] 王怀龙[1] 

机构地区：[1]中国人民解放军91655部队,北京100036

出　　处：《指挥控制与仿真》2017年第3期36-39,共4页Command Control & Simulation

摘　　要：针对时延约束下多智能体编队的动态跟踪问题,提出了一种与模型无关的控制算法,并运用实用稳定性理论、图论和矩阵分析等工具,实现了多跟随者在时延影响的有向通信图下对单动态领航者的实用跟踪。基于Matlab的线性矩阵不等式(Linear Matrix Inequality,LMI)工具箱,以三自由度(Three Degree of Freedom,3-DOF)的无人水下航行器(Unmanned Underwater Vehicles,UUV)进行数值仿真实验,可证明算法的正确性。For the dynamic tracking problem of the multi-agent formation with time delay,a model-independent control algorithm is proposed,and all followers can track a dynamic leader practically in a directed graph of time delay based on the practical stability theory,graph theory and matrix analysis. 3-DOF UUV as numerical simulations can prove the correctness of the algorithms based on the LMI toolbox of Matlab.

关 键 词：多智能体编队 动态跟踪 与模型无关 时延 UUV 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] E917[自动化与计算机技术—控制科学与工程]