摘要
针对具有外部扰动的二阶时滞多智能体系统,采用李雅普诺夫泛函和线性矩阵不等式的方法实现多智能体系统的编队包容控制,在存在外部干扰的情况下保持编队运动的稳定并且对时滞具有一定的容忍性。为了实现编队包容控制,提出一种基于相邻智能体之间相对状态的分布式时延反馈控制器。通过图论和矩阵理论工具,将多智能体系统在所提出的控制器下的包容控制问题转化为系统稳定性问题。随后,利用线性矩阵不等式的形式给出了保证状态反馈包容控制器存在的充分条件。在考虑存在外部干扰和时滞的情况下,确保系统的稳定性和收敛性,同时满足H_(∞)性能指标,并有效地将跟随者引导至由领导者形成的凸包中。通过仿真结果验证,所提出的控制方法能够使多智能体系统快速形成稳定的编队,并在控制策略执行后的20个时间步内实现收敛。
For second-order time-delayed multi-agent systems with external disturbances,the formation containment control of multi-agent systems is achieved by the Lyapunov Krasovskii function and linear matrix inequality method,which maintains the stability of formation motion under external disturbances and shows a certain tolerance for time delay.To achieve formation containment control,a distributed delayed feedback controller based on relative states between adjacent intelligent agents is proposed.By utilizing tools from graph theory and matrix theory,the containment control problem of multi-agent systems under the proposed controller is transformed into the problem of system stability.Subsequently,sufficient conditions ensuring the existence of a state feedback containment controller are provided in the form of linear matrix inequalities.Taking the presence of external disturbances and delays into consideration,the stability and convergence of the system are ensured,meeting H_(∞)performance criteria,which effectively guides followers into a convex hull formed by the leaders.Simulation results validate that the proposed control method can enable rapid formation of stable formations among multiple intelligent agents,achieving convergence within 20 time steps after the execution of the control strategy.
作者
吴汉
陈昌忠
龙海军
陈旭
WU Han;CHEN Changzhong;LONG Haijun;CHEN Xu(School of Automation and Information Engineering,Sichuan University of Science&Engineering,Yibin 644000,China;Intelligent Perception and Control Key Laboratory of Sichuan Province,Yibin 644000,China)
出处
《四川轻化工大学学报(自然科学版)》
2025年第4期68-78,共11页
Journal of Sichuan University of Science & Engineering(Natural Science Edition)
基金
重庆市自然科学基金项目(CSTB2022NSCQ-MSX0789)
四川轻化工大学科研创新团队项目(652A011,652B005)。
关键词
二阶时滞多智能体系统
外部干扰
分布式编队包容控制
H_(∞)性能指标
second-order time-delayed multi-agent systems
external disturbances
distributed formation containment control
H_(∞)performance
