[1]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(06):536-541.
 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(06):536-541.
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第7卷
期数:
2012年06期
页码:
536-541
栏目:
出版日期:
2012-12-25

文章信息/Info

Title:
Decentralized formation control of multiple mobile agents considering timevarying delay
文章编号:
1673-4785(2012)06-0536-06
作者:
雷明周超周绍磊张文广
海军航空工程学院 控制工程系,山东 烟台 264001
Author(s):
LEI Ming ZHOU Chao ZHOU Shaolei ZHANG Wenguang
Department of Automatic Control, Navy Aeronautical Engineering Institute, Yantai 264001, China
关键词:
时变时滞多智能体编队控制自由权矩阵一致性
Keywords:
timevarying delay multiple mobile agents formation control freeweight matrix consensus
分类号:
TP273
文献标志码:
A
摘要:
考虑到多移动智能体编队控制中的时变时滞问题,在所设计的编队框架下,基于一致性算法设计了具有不对称时变时滞的分布式编队控制律.该控制律仅使用全局速度导引信息和邻居状态反馈信息;在固定通信拓扑条件下,推导了具有时变时滞的闭环系统状态方程,应用改进的自由权矩阵方法获得了保守性更小的系统稳定条件,并在时变通信拓扑条件下,将拓扑变化处理为系统结构的不确定性,同样获得了时变通信拓扑下的系统稳定条件;进行了6个智能体在平面内编队运动的仿真,实例证明,理论结果是正确的.
Abstract:
In consideration of the timevarying delay problem in the formation control of multiple mobile agents, we will first examine this area in the study. The defined formation framework, a decentralized formation control law with asymmetric timevarying delay is designed based on a consensus algorithm, which only uses the global velocity guidance and neighbor state feedback information systems. Secondly, under a fixed communication topology condition, the closedloop system state equation with timevarying delay is induced and a less conservative stability condition of the system is obtained using the improved method of freeweight matrix. Further, under the timevarying communication topology condition, stability condition of the system is also obtained by processing topology′s variation as a structured model uncertainty. Finally, a simulation example of six agents’ formation movement inplane proves the accuracy of the theory.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2011-12-20.
网络出版日期:2012-07-12.
通信作者:雷明.
E-mail:Lming999@126.com.
作者简介:
雷明,男,1983年生,博士研究生,主要研究方向为无人飞行器编队、多智能体协同控制、无线自组织网络.
周超,男,1982年生,博士研究生,主要研究方向为无人飞行器编队协同控制、预测控制.
周绍磊,男,1963年生,教授,博士生导师,博士.主要研究方向为先进飞行器设计、非线性滤波、自动测试技术、分布式控制,发表学术论文60余篇,承担省部级项目6项,出版专著2部.
更新日期/Last Update: 2013-03-19