异构集群系统分布式自适应输出时变编队跟踪控制  

Distributed Adaptive Time-varying Output Formation Tracking for Heterogeneous Swarm Systems

作　　者：田磊 董希旺 赵启伦[3] 李清东 吕金虎[1,2] 任章 TIAN Lei;DONG Xi-Wang;ZHAO Qi-Lun;LI Qing-Dong;LV Jin-Hu;REN Zhang(School of Automation Science and Electrical Engineering,Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100191;Advanced Innovation Center for Big Data and Brain Computing,Beihang University,Beijing 100191;Beijing Institute of Electronic System Engineering,Beijing 100854)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院飞行器控制一体化技术国防科技重点实验室,北京100191 [2]北京航空航天大学,大数据科学与脑机智能高精尖创新中心,北京100191 [3]北京电子工程总体研究所,北京100854

出　　处：《自动化学报》2021年第10期2386-2401,共16页Acta Automatica Sinica

基　　金：国家重点研发计划课题(2018AAA0102303);国家自然科学基金(61922008,61973013,61873011,61803014);国防创新特区项目(18-163-00-TS-001-001-34);国防基础科研计划资助(JCKY2019601C106);北京市自然科学基金(4182035)资助。

摘　　要：提出了一种能够解决高阶异构集群系统输出时变编队跟踪问题的控制方法.集群系统中的智能体分为领导者和跟随者,领导者和跟随者的动力学模型可以完全不同.跟随者的输出在跟踪领导者输出的同时保持时变编队实现协同运动.考虑了领导者存在已知或未知控制输入、领导者和跟随者均存在未知扰动、有向通信拓扑存在切换等多种因素并存的情况,结合观测器理论、自适应控制理论和滑模控制理论设计了完全分布式的输出时变编队跟踪控制协议,摆脱了对领导者控制输入上界值、与通信拓扑相关的拉普拉斯矩阵的特征值以及时变编队函数等全局信息的依赖.利用Lyapunov理论证明了在有向拓扑切换条件下异构集群系统的闭环稳定性.最后通过数值仿真对理论结果的有效性进行了验证.A control method is proposed to solve time-varying output formation tracking problems of heterogeneous high-order swarm systems in this paper.The agents in swarm systems are classified into the leader and the follower.The dynamics of all agents can be different with each other.Outputs of the followers keep time-varying formation while tracking the leader's output to realize cooperative movement.With the existence of leader's known or unknown input,leader's and followers'disturbances and switching directed topologies,distributed time-varying output formation tracking control protocols without any global information such as the upper boundness of the leader's input,the eigenvalue information of the Laplacian matrix associated with the communication topologies and the time-varying formation function are designed base on the observer theory,adaptive control theory and sliding mode control theory.The closed-loop stability of heterogeneous swarm systems with switching directed topologies is proven by Lyapunov theory.Finally,the effectiveness of the obtained theoretical results is verified by numerical simulation.

关 键 词：异构集群系统 时变编队跟踪 分布式控制 自适应控制 有向拓扑切换 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V448[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]