引用本文:韩娜妮,罗小元,朱亚锟.离散异构多自主体系统时变编队-合围控制[J].控制与决策,2019,34(8):1803-1808
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离散异构多自主体系统时变编队-合围控制
韩娜妮1, 罗小元2, 朱亚锟3
(1. 陇东学院电气工程学院,甘肃庆阳745000;2. 燕山大学电气工程学院,河北秦皇岛066004;3. 东北大学秦皇岛分校控制工程学院,河北秦皇岛066004)
摘要:
针对高阶离散异构多自主体系统的时变编队-合围控制问题,考虑时变时延,提出分布式编队-合围控制协议.首先,在合理假设的基础上,通过模型转变和状态空间分解,将编队-合围控制问题转化为子系统的稳定性问题,再利用Lyapunov-Krasovskii函数,以LMIs的形式给出协议有效的充分条件,并指出LMIs的个数与系统中自主体的个数无关;然后,给出编队参考函数的具体形式,证明指出编队参考函数不受时变时延的影响;最后,通过固定和时变编队-合围仿真验证所设计的协议的有效性.
关键词:  编队-合围  异构多自主体系统  离散系统  时变时延
DOI:10.13195/j.kzyjc.2018.0097
分类号:TP273
基金项目:国家自然科学基金项目(61375105,61703079).
Time-varying formation-containment control of discrete-time heterogeneous multi-agent systems
HAN Na-ni1,LUO Xiao-yuan2,ZHU Ya-kun3
(1. College of Electrical Engineering,Longdong University,Qingyang745000,China;2. School of Electrical Engineering,Yanshan University,Qinhuangdao066004,China;3. School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao066004,China)
Abstract:
To investigate the formation-containment problem of discrete-time heterogeneous multi-agent systems, the formation-containment protocols with time-varying delay are presented. Firstly, based on reasonable hypothesises, by model transformation and state space decomposition, the problem of formation-containment is transformed into stability problem of subsystems. By using the Lyapunov-Krasovskii function, the sufficient conditions that guarantee the effectiveness of the proposed protocols are presented in the form of LMIs, and it is pointed out that the number of LMIs is independent of that of agents. Then, the formation reference function is also described in detail, and the proof illustrates that the formation reference function is not affected by time-varying delay. Finally, the simulation results demonstrate the effectiveness of the designed protocols.
Key words:  formation-containment  heterogeneous multi-agent system  discrete-time system  time-varying delay

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