Leader-following多自主体系统时变编队跟踪控制  

The time-varying formation and tracking control of leader-following multi-agent systems

作　　者：韩娜妮[1] 赵莉[1] HAN Na-ni;ZHAO Li(College of Intelligent Manufacturing,Longdong University,Qingyang 745000,China)

机构地区：[1]陇东学院智能制造学院,甘肃庆阳745000

出　　处：《兰州理工大学学报》2023年第2期88-95,共8页Journal of Lanzhou University of Technology

基　　金：甘肃省高等学校创新基金(2021B-260);甘肃省科技计划资助项目(21JR7RM192,21JR1RM339)。

摘　　要：考虑时变时延,研究了高阶leader-following多自主体系统的分布式时变编队跟踪控制问题.针对连续高阶多自主体系统,设计了基于观测器的时变编队跟踪控制协议,通过状态变换,将系统的时变编队跟踪控制问题,转变为误差系统的稳定性问题.然后利用图论及李雅普诺夫稳定定理,研究了系统实现时变编队跟踪控制的充分条件,并且指出时变编队参考函数与时变时延无关.最后,数据仿真结果证明了所设计的协议能使follower自主体实现时变编队,并且跟踪leader自主体的轨迹.Considering the time-varying delay,the distributed time-varying formation and tracking control for the high-order leader-following multi-agent systems is investigated.Aiming at the linear multi-agent systems,the observer-based time-varying formation and tracking protocols are designed.By model transformation,the formation and tracking control problem is transformed into the stability problem of error systems.Then,by using graph theory and Lyapunov theory,the sufficient conditions that the system realizes time-varying formation and tracking control are presented in the form of LMI.In addition,it is pointed out that the time-varying delay does not affect the formation reference function.Finally,the simulation results show that the designed protocols can make followers form the desired time-varying formation,and track the leader’s trajectory.

关 键 词：leader-following多自主体系统 时变编队 跟踪控制 编队参考函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]