分布式异构集群系统PI编队跟踪控制

同构集群系统因其组成个体的单一性而存在功能上的局限性。异构集群系统的个体组成具有多样性，因此可以扩展同构集群系统的功能。针对异构集群系统的编队跟踪控制问题，文中基于领导者-跟随者模型，在有向通信拓扑结构下设计了一种分布式PI编队跟踪控制协议。设计了期望的时变编队队形，跟随者在跟踪领导者的同时可保持期望的编队队形，使系统中的所有智能体均能够达到期望位置。考虑到真实系统会受到外部未知有界扰动和一些不确定因素的影响，因此基于李雅普诺夫稳定性理论给出了保证系统跟踪误差一致有界的充分条件，并进行了鲁棒性分析。根据设计的控制协议及控制条件进行了仿真验证，结果表明所设计的PI编队跟踪控制策略能够有效解决异构集群系统的编队跟踪控制问题。

PI Formation Tracking Control for Distributed Heterogeneous Swarm Systems

The homogeneous swarm system is limited in function because of its single component. The individual composition of the heterogeneous cluster system is diverse, so the functions of the homogeneous cluster system can be extended. In view of the problem of formation tracking control in heterogeneous swarm system, based on leader-follower model, a distributed PI formation tracking control protocol is designed under the directed communication topology. The expected time-varying formation is designed, and the followers keep the expected formation while tracking the leader, so that all the agents in the system can reach the expected position. Considering that the real system is often affected by the external unknown disturbance and some uncertain factors, based on the Lyapunov stability theory, some sufficient conditions are given to ensure the tracking error of the system to be uniformly bounded, and the robustness analysis is carried out. The simulation verification is carried out according to the designed control protocol and control conditions. The results show that the designed PI formation tracking control strategy can effectively solve the formation tracking control problem of heterogeneous cluster systems.