复杂通信条件下的线性群系统编队控制方法
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摘要
针对时变时延和有向切换拓扑两个复杂通信条件,研究了线性群系统的编队控制问题。首先,基于一致性理论,给出了群系统的编队控制协议。其次,利用变量代换,将上述两个复杂通信条件下的群系统编队控制问题,转化为多个时延系统的镇定问题。构造公共Lyapunov-Krasovskii泛函,利用自由权矩阵方法,对时延系统的镇定问题进行分析,得到了保守性较小且适用于大规模系统的线性矩阵不等式(LMI)判据,并求解出时延上界和编队控制器增益。最后,通过数值仿真,对方法的有效性和低保守性进行了验证。
We investigate the formation control for linear swarm systems with complex communication conditions of time-varying delays and switching interaction topologies. Firstly,we propose a formation control protocol based on consensus theory. Secondly,we transform a formation control problem with the two complex communication conditionsinto the stabilization problem of delay-dependent systems using variable substitution. We construct the common Lyapunov-Krasovskii functional and analyze the stabilization problem of delay-dependent systemsby free-weighting matrices method. Then,the linear matrix inequality( LMI) criterion for largescale swarm systems with lower conservative is obtained. We also give the upper bounds of delays and the controller gain. Finally,we demonstrate the theoretical results and low conservative by numerical simulations.
We investigate the formation control for linear swarm systems with complex communication conditions of time-varying delays and switching interaction topologies. Firstly,we propose a formation control protocol based on consensus theory. Secondly,we transform a formation control problem with the two complex communication conditionsinto the stabilization problem of delay-dependent systems using variable substitution. We construct the common Lyapunov-Krasovskii functional and analyze the stabilization problem of delay-dependent systemsby free-weighting matrices method. Then,the linear matrix inequality( LMI) criterion for largescale swarm systems with lower conservative is obtained. We also give the upper bounds of delays and the controller gain. Finally,we demonstrate the theoretical results and low conservative by numerical simulations.
引文
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[22]Zhang Q J,Niu Y F,Wang L,et al.Average consensus seeking of high-order continuous-time multi-agent systems with multiple time-varying communication delays[J].International Journal of Control,Automation and Systems,2011,9(6):1209-1218.
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[24]Zhou S L,Liu W,Wu Q,et al.Leaderless consensus of linear multi-agent systems:Matrix decomposition approach[C]//Proceeding of the7th International Conference on Intelligent Human-Machine Systems and Cybernetics.Piscataway,NJ,USA:IEEE,2015:327-331.
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[28]Xi J X,Shi Z Y,Zhong Y S.Consensus analysis and design for high-order linear swarm systems with time-varying delays[J].Physica A,2011,390(23/24):4114-4123.
[2]杨波,方华京.大规模群体系统的现状研究[J].武汉理工大学学报(信息与管理工程版),2007,29(1):1-6.Yang B,Fang H J.Study of large-scale swarm systems:State of art[J].Journal of Wuhan University of Technology(Information&Management Engineering),2007,29(1):1-6.
[3]Feng X,Long W,Jie C,et al.Finite-time formation control for multi-agent systems[J].Automatic,2009,45,2605-2611.
[4]Ren W.Consensus strategies for cooperative control of vehicle formation[J].IET Control Theory and Application,2007,1(2):505-512.
[5]Ren W,Sorensen N.Distributed coordination architecture for multi-robot formation control[J].Robotics and Autonomous Systems,2008,56(4):324-333.
[6]Seo J,Ahn C,Kim Y.Controller design for UAV formation flight using consensus based decentralized approach[C]//Proceedings of AIAA Infotech@Aerospace Conference.Reston,VA,US:AIAA,2009:1-11.
[7]Dong X W,Yu B C,Shi Z Y,et al.Time-varying formation control for unmanned aerial vehicles:Theories and applications[J].IEEE Transactions on Control Systems Technology,2015,23(1):340-348.
[8]Wang R,Dong X W,Li Q D,et al.Distributed adaptive control for time-varying formation of general linear multi-agent systems[J].International Journal of Systems Science,2017,48(16):3491-3503.
[9]焦建芳,王光.有向通信下的任务驱动船舶协同编队控制方法[J].信息与控制,2017,46(5):606-613.Jiao J F,Wang G.Task-driven cooperative formation control algorithm for vessels under directed communication topology[J].Information and Control,2017,46(5):606-613.
[10]Liu C L,Tian Y P.Formation control of multi-agent systems with heterogeneous communication delays[J].International Journal of Systems Science,2009,40(6):627-636.
[11]Rudy C G,Nejat O.Stability of formation control using a consensus protocol under directed communications with two time delays and delay scheduling[J].International Journal of Systems Science,2015,47(2):433-449.
[12]Qin L G,He X,Zhou D H.Distributed proportion-integration-derivation formation control for second-order multi-agent systems with communication time delays[J].Neurocomputing,2017,267:271-282.
[13]Abdelkader A,Abdelhamid T.Formation control of VTOL unmanned aerial vehicles with communication delays[J].Automatica,2011,47(11):2383-2394.
[14]Dong X W,Xi J X,Lu G,et al.Formation control for high-order linear time-invariant multi-agent systems with time delays[J].IEEE Transactions on Control of Network Systems,2014,1(3):232-240.
[15]石晓航,张庆杰,吕俊伟.基于自由权矩阵的时变时延线性群系统编队控制[J].航空学报,2017,39(3):204-214.Shi X H,Zhang Q J,Lv J W.Formation control for linear swarm systems with time-varying delays based on free-weighting matrices[J].Acta Aeronautica et Astronautica Sinica,2017,39(3):204-214.
[16]Dong X W,Zhou Y,Ren Z,et al.Time-varying formation control for unmanned aerial vehicles with switching interaction topologies[J].Control Engineering Practice,2016,46:26-36.
[17]Liu W,Zhou S L,Qi Y H,et al.Distributed formation control for multiple unmanned aerial vehicles with directed switching communication topologies[J].Control Theory&Applications,2015(10):1422-1427.
[18]Dong X W,Shi Z Y,Lu G,et al.Time-varying formation control for high-order linear swarm systems with switching interaction topologies[J].IET Control Theory and Applications,2014,18(8):2162-2170.
[19]Wang R,Dong X W,Li Q D,et al.Distributed time-varying formation control for linear swarm systems with switching topologies using an adaptive output-feedback approach[J].IEEE Transactions on Systems,Man,and Cybernetics:Systems,2017.
[20]薛瑞彬,宋建梅,张民强.具有时延及联合连通拓扑的多飞行器分布式协同编队飞行控制研究[J].兵工学报,2015,36(3):492-502.Xue R B,Song J M,Zhang M Q.Research on distributed multi-vehicle coordinated formation flight control with coupling time-delay and jointly-connected topologies[J].Acta Armamentarii,2015,36(3):492-502.
[21]张庆杰,沈林成,朱华勇.具有多个通信时延的一类二阶多智能体系统平均一致性[J].控制与决策,2011,26(10):1485-1492.Zhang Q J,Shen L C,Zhu H Y.Average consensus of a class of second order multi-agent systems with multiple communication delays[J].Control and Decision,2011,26(10):1485-1492.
[22]Zhang Q J,Niu Y F,Wang L,et al.Average consensus seeking of high-order continuous-time multi-agent systems with multiple time-varying communication delays[J].International Journal of Control,Automation and Systems,2011,9(6):1209-1218.
[23]Ren W,Beard R W.Consensus seeking in multiagent Systems under dynamically changing interaction topologies[J].IEEE Transactions on Automatic Control,2005,50(5):655-661.
[24]Zhou S L,Liu W,Wu Q,et al.Leaderless consensus of linear multi-agent systems:Matrix decomposition approach[C]//Proceeding of the7th International Conference on Intelligent Human-Machine Systems and Cybernetics.Piscataway,NJ,USA:IEEE,2015:327-331.
[25]Boyd S,Ghaoui L E,Feron E,et al.Linear matrix inequalities in system and control theory[M].Philadelphia,PA:SIAM,1994.
[26]Gu K.A further refinement of discretized Lyapunov functional method for the stability of time-delay systems[J].International Journal of Control,2001,74(10):967-976.
[27]Bee O C E O.Matrix analysis[M].New York,NJ,USA:Cambridge University Press,1985.
[28]Xi J X,Shi Z Y,Zhong Y S.Consensus analysis and design for high-order linear swarm systems with time-varying delays[J].Physica A,2011,390(23/24):4114-4123.
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