基于脉冲控制的时延异构多智能体编队控制

doi:10.3969/j.issn.0372-2112.2018.12.019

电子学报 ›› 2018, Vol. 46 ›› Issue (12): 2957-2963.DOI: 10.3969/j.issn.0372-2112.2018.12.019

基于脉冲控制的时延异构多智能体编队控制

贾枭, 席建祥, 刘光斌, 杜柏阳

火箭军工程大学205教研室, 陕西西安 710025

收稿日期:2017-05-09 修回日期:2018-06-11 出版日期:2018-12-25
- 作者简介:
- 贾枭男,1993年出生,陕西渭南人,火箭军工程大学在读博士生,主要研究方向为多机器人编队控制.E-mail:15091281454@163.com;席建祥 男,1982年出生,甘肃白银人,火箭军工程大学副教授,博导,主要研究方向为复杂系统控制、切换系统和群系统.E-mail:xijx07@mail.tsinghua.edu.cn;刘光斌 男,1982年出生,四川射洪人,火箭军工程大学教授,博导,主要研究方向为GNSS导航、复杂系统控制和多智能体系统.E-mail:lgb303@162.com;杜柏阳 男,1990年出生,山东滨州人,火箭军工程大学在读博士生,主要研究方向为多智能体系统.E-mail:13468619594@163.com
- 基金资助:
- 国家自然科学基金 (No.61374054，No.61503012，No.61703411，No.61503009，No.61333011，No.61421063）

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

JIA Xiao, XI Jian-xiang, LIU Guang-bin, DU Bo-yang

Teaching and Research Section 205, Rocket Force University of Engineering, Xi'an Shaanxi 710025, China

Received:2017-05-09 Revised:2018-06-11 Online:2018-12-25 Published:2018-12-25

摘要/Abstract

摘要： 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.

关键词: 异构多智能体系统, 脉冲控制, 时延, 一致性, 平均通信代价指标

Abstract: 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.

Key words: heterogeneous multi-agent systems, impulsive control, time-varying delays, consensus, average communication cost index

中图分类号:

TP242

贾枭, 席建祥, 刘光斌, 杜柏阳. 基于脉冲控制的时延异构多智能体编队控制[J]. 电子学报, 2018, 46(12): 2957-2963.

JIA Xiao, XI Jian-xiang, LIU Guang-bin, DU Bo-yang. Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control[J]. Acta Electronica Sinica, 2018, 46(12): 2957-2963.

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基于脉冲控制的时延异构多智能体编队控制

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

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