基于脉冲控制的时延异构多智能体编队控制

为提高编队系统鲁棒性，降低系统对通信条件的要求，针对异构多智能体系统的编队控制问题，提出一种基于脉冲控制的编队控制方法.考虑异构多智能体的切换拓扑与变时延情况，根据一致性理论，提出基于领航跟随者模型的脉冲控制协议.利用矩阵分析方法将异构多智能体编队系统的变时延问题转化为时延上界问题，通过构造Lyapunov函数并利用Lyapunov稳定理论得到系统实现编队控制一致性的充分条件.同时，为比较不同控制协议的优劣性，提出切换拓扑下多智能体编队控制的平均通信代价指标.仿真结果验证了所提脉冲控制方法的有效性和优越性.

Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control

In order to improve the robustness of the formation system and reduce the system demands for communication conditions,concerning the formation control problem of multi-agent systems,a control approach is proposed based on impulsive control for the formation control problem of heterogeneous multi-agent systems.Considering problems in multi-agent systems with switching topology and time-varying delays,an impulsive control algorithm is proposed based upon leader-following models by using the consensus theory.In formation control of heterogeneous multi-agent systems,the time-varying delays problem is transformed into the upper bound of time-delays problem by the matrix theory.A Lyapunov function is constructed.By the Lyapunov theory,a sufficient condition for solving the formation control problem of heterogeneous multi-agent systems is obtained.Aiming to compare the control protocol with others,the average communication cost index of multi-agent systems with switching topology is proposed.The simulation results illustrate the validity and the superiority of the proposed impulsive control approach.