[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(6):536-541.
LEI Ming,ZHOU Chao,ZHOU Shaolei,et al.Decentralized formation control of multiple mobile agents considering timevarying delay[J].CAAI Transactions on Intelligent Systems,2012,7(6):536-541.
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LEI Ming,ZHOU Chao,ZHOU Shaolei,et al.Decentralized formation control of multiple mobile agents considering timevarying delay[J].CAAI Transactions on Intelligent Systems,2012,7(6):536-541.
考虑时变时滞的多移动智能体分布式编队控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
7
期数:
2012年第6期
页码:
536-541
栏目:
学术论文—智能系统
出版日期:
2012-12-25
- Title:
- Decentralized formation control of multiple mobile agents considering timevarying delay
- 文章编号:
- 1673-4785(2012)06-0536-06
- Keywords:
- timevarying delay; multiple mobile agents; formation control; freeweight 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 timevarying 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 timevarying 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 closedloop system state equation with timevarying delay is induced and a less conservative stability condition of the system is obtained using the improved method of freeweight matrix. Further, under the timevarying 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 inplane proves the accuracy of the theory.
- 参考文献/References:
-
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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