具有时变时滞耦合的二阶多主体系统的编队控制

摘要

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.%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.