切换拓扑下群系统保性能编队形成问题优化控制方法  

Optimal control method for swarm systems formation achievement problem with guaranteed-performance and switching topologies

作　　者：王琳 张庆杰[1] 陈宏伟 WANG Lin;ZHANG Qing-jie;CHEN Hong-wei(Aviation University of Air Force,Changchun 130022,China)

机构地区：[1]空军航空大学,长春130022

出　　处：《控制与决策》2023年第12期3436-3444,共9页Control and Decision

摘　　要：针对群系统编队形成问题,提出一种切换拓扑下保性能的优化控制方法.首先,建立保性能编队形成问题的数学描述,设计编队控制协议;其次,通过变量代换,给出群系统实现时变编队的充分条件,借助李雅普诺夫方法分析系统的稳定性;再次,通过求解线性矩阵不等式,设计编队控制器,给出群系统性能上界值的数学表达形式.最后,通过仿真实验验证了所提控制方法的有效性.For the formation achievement problem for swarm systems,an optimal control method with guaranteedperformance and switching topologies is proposed.Firstly,the mathematical description of the formation achievement problem with guaranteed-performance is established and a formation control protocol is designed.Secondly,sufficient conditions for swarm systems with time-varying formation are obtained by variable substitution and the stability of the system is analysed using the Lyapunov approach.Then,the formation controller is designed by solving the linear matrix inequality,and the mathematical expression of the upper bound of performance for the swarm system is given.Finally,a numerical simulation is provided to illustrate the effectiveness of the proposed control method.

关 键 词：群系统 编队形成 一致性 保性能 切换拓扑 

分 类 号：V249[航空宇航科学与技术—飞行器设计]