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

doi:10.3969/j.issn.0372-2112.2018.12.019

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

更新时间：2025-07-16

- Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control
- Acta Electronica Sinica Vol. 46, Issue 12, Pages: 2957-2963(2018)
- 作者机构：
  
  火箭军工程大学205教研室,陕西,西安,710025
- 作者简介：
- 基金信息：
  
  National Natural Science Foundation of China (No.61374054, No.61503012, No.61703411, No.61503009, No.61333011, No.61421063)
- DOI：10.3969/j.issn.0372-2112.2018.12.019
  CLC： TP242
- Published Online：25 December 2018，
  
  Published：2018
- 稿件说明：
移动端阅览
JIA Xiao, XI Jian-xiang, LIU Guang-bin, et al. Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control[J]. Acta Electronica Sinica, 2018, 46(12): 2957-2963.
DOI：

JIA Xiao, XI Jian-xiang, LIU Guang-bin, et al. Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control[J]. Acta Electronica Sinica, 2018, 46(12): 2957-2963. DOI： 10.3969/j.issn.0372-2112.2018.12.019.

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.

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.

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