| 具有时变时滞耦合的二阶多主体系统的编队控制 |
| |
| 引用本文： | 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. |
| |
| 作者姓名： | 来金钢 陈士华 路晓庆 |
| |
| 作者单位： | 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 |
| |
| 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) |
| |
| 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.
|
| 关 键 词： | 多主体系统 时变时滞 有向拓扑 编队控制 |
Formation control for second-order multi-agent systems with time-varying delays |
| |
| LAI Jin'gang
,
CHEN Shihua
,
LU Xiaoqing.Formation control for second-order multi-agent systems with time-varying delays[J].CAAL Transactions on Intelligent Systems,2012,7(2):135-141. |
| |
| Authors: | LAI Jin'gang CHEN Shihua LU Xiaoqing |
| |
| Affiliation: | 1.School of Automization,Wuhan University of Technology,Wuhan 430070,China;2.School of Mathematics and Statistics,Wuhan University,Wuhan 430072,China) |
| |
| 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. |
| |
| Keywords: | multi-agent system time-varying delay directed topology formation control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
