复杂通信条件下的线性群系统编队控制方法  

Formation Control for Linear Swarm Systems with Complex Communication Conditions

作　　者：石晓航 张庆杰[2] 吕俊伟 SHI Xiaohang;ZHANG Qingjie;LV Junwei(Naval Aviation University, Yantai 264001, China;Aviation University of Air Force, Changchun 130022, China)

机构地区：[1]海军航空大学,山东烟台264001 [2]空军航空大学,吉林长春130022

出　　处：《信息与控制》2018年第3期297-305,共9页Information and Control

基　　金：国家自然科学基金资助项目(61004002);航空科学基金资助项目(20155884012)

摘　　要：针对时变时延和有向切换拓扑两个复杂通信条件,研究了线性群系统的编队控制问题。首先,基于一致性理论,给出了群系统的编队控制协议。其次,利用变量代换,将上述两个复杂通信条件下的群系统编队控制问题,转化为多个时延系统的镇定问题。构造公共Lyapunov-Krasovskii泛函,利用自由权矩阵方法,对时延系统的镇定问题进行分析,得到了保守性较小且适用于大规模系统的线性矩阵不等式(LMI)判据,并求解出时延上界和编队控制器增益。最后,通过数值仿真,对方法的有效性和低保守性进行了验证。We investigate the formation control for linear swarm systems with complex communication conditions of time-varying delays and switching interaction topologies. Firstly,we propose a formation control protocol based on consensus theory. Secondly,we transform a formation control problem with the two complex communication conditionsinto the stabilization problem of delay-dependent systems using variable substitution. We construct the common Lyapunov-Krasovskii functional and analyze the stabilization problem of delay-dependent systemsby free-weighting matrices method. Then,the linear matrix inequality（ LMI） criterion for largescale swarm systems with lower conservative is obtained. We also give the upper bounds of delays and the controller gain. Finally,we demonstrate the theoretical results and low conservative by numerical simulations.

关 键 词：群系统 时变时延 切换拓扑 自由权矩阵 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]