异构变时延多智能体系统编队控制分析

实际工程应用中,异构多智能体的编队控制问题研究具有十分重要的意义。考虑现实环境影响,编队系统个体之间的通信变时延难以忽略。系统收敛速率是评价系统性能的重要依据,然而现有编队控制问题研究很少能给出相应的量化指标。针对上述情形,对包含一、二阶智能体的异构变时延系统的编队控制问题进行分析研究。首先,考虑固定有向通信拓扑情况,对领航跟随者模式下异构变时延多智能体系统提出线性一致性控制协议。然后,构建误差系统模型,利用图论与矩阵论分析方法,并结合Routh-Hurwitz定理与牛顿-莱布尼兹公式,获得系统实现编队控制的充要条件,同时得到估算系统收敛速率的不等式关系。最后,仿真算例中随机给定一种系统节点0全局可达的通信拓扑,并对不同时延情况的编队控制效果进行分析,验证一致性控制协议的正确性和有效性。

Formation Control of Heterogeneous Multi-Robotwith Fixed Topology

In practical engineering applications,the research on formation control problems of heterogeneous multi-agent systems is of great significance.Considering the real environment,it is difficult to ignore the time delays in communication between individuals in the formation system.The convergence rate of the formation system is an impor-tant foundation for evaluating system performance,but corresponding quantified index can be obtained rarely in recent studies of formation control problems.Concerning the above problems,the formation control problem of heterogeneous multi-agent systems composed of first-order agents and second-order agents with time-varying delays was addressed.Considering the fixed communication topology,the linear consensus protocol was proposed for the heterogeneous multi-agent systems under a leader-following mode.The error model was established.By use of the graph theory and ma-trix analysis method,combined with the Routh-Hurwitz theorem and Newton-Leibniz formula,the necessary and suf-ficient condition for the formation control of the system was obtained,as well as an estimation of convergence rate.In the simulation,Communication topology with node 0 globally reachable was set,and the formation control problems of the system with different time delays were analyzed.Simulation results illustrate the validity of the proposed consensus control approach.