考虑时变时滞的多移动智能体分布式编队控制

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.

Decentralized formation control of multiple mobile agents considering time-varying delay

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.