具有输入约束和通信时滞的多智能体编队鲁棒镇定  

Formation Robust Stabilization of Multi-agent with Input Constraint and Communication Delays

作　　者：雷明 马培蓓 王娟 Lei Ming;Ma Peibei;Wang Juan(Naval Equipment Department, Taiyuan 030027, China;Navy Aeronautical University, Yantai 264001, China;JinXin Industries Group Corporation Limited, Taiyuan 030027, China)

机构地区：[1]海军装备部,太原030027 [2]海军航空大学,烟台264001 [3]晋西工业集团,太原030027

出　　处：《战术导弹技术》2018年第3期91-99,共9页Tactical Missile Technology

基　　金：国家自然科学基金资助项目(61305136)

摘　　要：针对多智能体编队运动过程中同时存在个体输入约束、通信时滞和网拓扑结构随机变换的实际问题,并考虑到编队队形和速度变换需要,设计了一种具有加速度、速度引导信息的一致性编队控制器,推导了编队系统的鲁棒镇定条件。首先,定量描述了编队、时滞和输入约束问题;其次,应用一致性算法设计了个体编队控制律,推导了具有输入约束和时滞的编队控制器和闭环系统状态方程,获得了系统的等价模型;然后,证明了存在输入约束的情况下编队能够容忍的最大加速度,进一步,分别将系统的输入约束、网络的随机变化处理为范数有界不确定性,基于Lyapunov泛函和LMI,证明了编队系统的全局鲁棒镇定条件;最后,仿真实例证明了理论结果的正确性。A consensus based formation controller including acceleration and velocity information is designed to solve the practical problems of input constraint and communication delays and network＇s random topology changing in the multi-agent system formation movement. And the formation maneuver and velocity changing are also considered. Firstly,the problems of input constraint and communication delays are descripted quantitatively. Secondly,an individual formation control law is designed by using consensus algorithm. The closed-loop system state equation is induced with input constraint and communication delays and the equivalence model is obtained by using algebraically transformation. And then,the max acceleration of formation system is provided under the input constraint. In further,based on Lyapunov and LMI theory,input constraint and network ＇s random topology changes are processed as uncertain terms individually and a formation robust stabilization conditions are proved. Finally,simulation results prove the correctness of the theory.

关 键 词：多智能体 编队 输入约束 通信时滞 鲁棒镇定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]