异构集群系统分布式自适应输出时变编队跟踪控制

提出了一种能够解决高阶异构集群系统输出时变编队跟踪问题的控制方法. 集群系统中的智能体分为领导者和跟随者, 领导者和跟随者的动力学模型可以完全不同. 跟随者的输出在跟踪领导者输出的同时保持时变编队实现协同运动. 考虑了领导者存在已知或未知控制输入、领导者和跟随者均存在未知扰动、有向通信拓扑存在切换等多种因素并存的情况, 结合观测器理论、自适应控制理论和滑模控制理论设计了完全分布式的输出时变编队跟踪控制协议, 摆脱了对领导者控制输入上界值、与通信拓扑相关的拉普拉斯矩阵的特征值以及时变编队函数等全局信息的依赖. 利用Lyapunov理论证明了在有向拓扑切换条件下异构集群系统的闭环稳定性. 最后通过数值仿真对理论结果的有效性进行了验证.

Distributed Adaptive Time-varying Output Formation Tracking for Heterogeneous Swarm Systems

A control method is proposed to solve time-varying output formation tracking problems of heterogeneous high-order swarm systems in this paper. The agents in swarm systems are classified into the leader and the follower. The dynamics of all agents can be different with each other. Outputs of the followers keep time-varying formation while tracking the leader＇ s output to realize cooperative movement. With the existence of leader＇ s known or unknown input, leader＇ s and followers＇ disturbances and switching directed topologies, distributed time-varying output formation tracking control protocols without any global information such as the upper boundness of the leader＇ s input, the eigenvalue information of the Laplacian matrix associated with the communication topologies and the time-varying formation function are designed base on the observer theory, adaptive control theory and sliding mode control theory. The closed-loop stability of heterogeneous swarm systems with switching directed topologies is proven by Lyapunov theory. Finally, the effectiveness of the obtained theoretical results is verified by numerical simulation.