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[1]来金钢,陈士华,路晓庆.具有时变时滞耦合的二阶多主体系统的编队控制[J].智能系统学报,2012,7(2):135-141.
　LAI Jingang,CHEN Shihua,LU Xiaoqing.Formation control for secondorder multiagent systems with timevarying delays[J].CAAI Transactions on Intelligent Systems,2012,7(2):135-141.

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具有时变时滞耦合的二阶多主体系统的编队控制

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 7 期数: 2012年第2期页码: 135-141 栏目: 学术论文—智能系统出版日期: 2012-04-25

Title:: Formation control for secondorder multiagent systems with timevarying delays

文章编号:: 1673-4785(2012)02-0135-07

作者:: 来金钢¹，陈士华²，路晓庆²; 1.武汉理工大学自动化学院，湖北武汉 430070；
2. 武汉大学数学与统计学院，湖北武汉 430072

Author(s):: LAI Jin’gang¹, CHEN Shihua², LU Xiaoqing²; 1. School of Automization, Wuhan University of Technology, Wuhan 430070, China;
2. School of Mathematics and Statistics, Wuhan University, Wuhan 430072, China

关键词:: 多主体系统; 时变时滞; 有向拓扑; 编队控制

Keywords:: multiagent system; timevarying delay; directed topology; formation control

分类号:: TP273

文献标志码:: A

摘要:: 多主体系统的编队控制是一类重要的网络协同控制问题.研究了在有向连接拓扑结构下，具有时变时滞耦合的二阶多主体系统的编队控制问题.通过一种多层领导机制的框架建模，得到了时不变编队、时变编队和时变轨迹追踪3种编队问题的充分性条件，并证明了各种预期队列是以指数的收敛速度形成的.数值仿真进一步验证了理论结果的正确性，为该理论在实际中应用起到指导作用.

Abstract:: The formation control problem for multiagent systems is one of the most serious network cooperation control problems. The formation control problem of secondorder multiagent systems with timevarying coupling delays in directed interaction topologies was investigated. Sufficient conditions were obtained for the attainment of both timeinvariant and timevarying formations as well as for timevarying formations for trajectory tracking by using a special multileader framework that attained the formations at exponentially converging speeds. Some numerical simulations were also conducted to validate the theoretical results in order to develop practical applications. 

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相似文献/References:: [1]蒋运承,王驹.多主体系统中的模糊匹配[J].智能系统学报,2006,1(1):79.
　JIANG Yun-cheng,WANG Ju.Fuzzy service matchmaking in multi-agent systems[J].CAAI Transactions on Intelligent Systems,2006,1():79.
[2]雷明,周超,周绍磊,等.考虑时变时滞的多移动智能体分布式编队控制[J].智能系统学报,2012,7(6):536.
　LEI Ming,ZHOU Chao,ZHOU Shaolei,et al.Decentralized formation control of multiple mobile agents considering timevarying delay[J].CAAI Transactions on Intelligent Systems,2012,7():536.

备注/Memo

收稿日期：2011-11-20.
网络出版日期：2012-03-09.
基金项目：国家“973”计划资助项目(2009CB723905)；国家自然科学基金资助项目(70571059).
通信作者：路晓庆. E-mail: luxq@whu.edu.cn.
作者简介：
来金钢，男，1985年生，助理工程师，主要研究方向为智能控制理论及其应用，发表学术论文5篇,其中被EI 、ISTP检索2篇.
陈士华，男，教授，博士生导师，主要研究方向为微分方程定性理论及混沌动力系统的控制与同步.主持和参与省部级科研项目6项.发表学术论文60余篇，其中被SCI、EI检索50篇. 
路晓庆,女,1985年生, 博士研究生, 主要研究方向为动力系统及其应用、非线性系统、复杂网络、随机分析、多智能体协同控制等，发表学术论文10余篇，均被SCI、EI检索.

更新日期/Last Update: 2012-07-12

具有时变时滞耦合的二阶多主体系统的编队控制 PDF下载HTML

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具有时变时滞耦合的二阶多主体系统的编队控制

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