离散高阶多自主体系统的编队-合围跟踪控制  

The formation-containment tracking control for discrete high-order multi-agent systems

作　　者：齐晓龙 QI Xiaolong(College of Electrical Engineering,Longdong University,Qingyang 745000,China)

机构地区：[1]陇东学院电气工程学院,甘肃庆阳745000

出　　处：《扬州大学学报（自然科学版）》2023年第2期34-43,共10页Journal of Yangzhou University：Natural Science Edition

基　　金：甘肃省青年科技基金资助项目(21JR11RM047,21JR7RM192);甘肃省高等学校创新基金资助项目(2020A-119,2021B-260);庆阳市科技计划资助项目(QY2021-G005)。

摘　　要：针对由1个虚拟领导者、多个编队领导者和跟随者组成的多自主体网络,考虑时变时延,研究离散高阶多自主体系统的编队-合围跟踪控制问题.首先,分别针对编队领导者和跟随者设计编队和合围跟踪控制协议,通过状态转换将系统的编队-合围跟踪控制问题转变为误差系统的稳定性问题;其次,利用图论及Lyapunov稳定性定理,以线性矩阵不等式的形式给出协议有效的充分条件;最后,通过仿真实验验证该编队-合围跟踪控制协议的有效性.结果表明:所设计的协议可以使编队领导者形成所要求的编队,跟随者自主体趋于编队领导者形成的凸包中,同时整体多自主体系统能零误差地跟踪虚拟领导者的运行轨迹.Assuming that the multi-agents system is consisted of one virtual leader,multiple formation leaders and followers,the formation-containment tracking problem of discrete-time multi-agent systems with time-varying delay is investigated in this paper.Firstly,the formation and containment control protocols are designed for the formation leaders and followers respectively,and the formation-containment tracking problem is transformed into the stability problem of error system by state transformation.Secondly,the sufficient conditions for the validity of the protocol are given in the form of linear matrix inequalities by using the graph theory and Lyapunov stability theorem.Finally,the numerical simulation illustrates the effectiveness of the designed formation-containment protocols.The results show that the proposed protocols can make the formation leader form the desired formation,while the follower self-body tends to the convex hull by the formation leader,and the whole multi-self-body system can track the virtual leader s trajectory with zero error at the same time.

关 键 词：编队-合围跟踪控制 离散多自主体系统 时变时延 

分 类 号：TP271.81[自动化与计算机技术—检测技术与自动化装置]