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- 2017
一种时延多智能体系统的分布式编队
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Abstract:
摘要： 针对具有定常时延的二阶积分器多智能体系统,提出一种不依赖时延的分布式编队控制律。通过引入编队误差的积分信息,设计一种新的分布式比例积分微分控制律。和当前的编队控制律相比,分布式比例积分微分控制律具有对部分恒偏差故障鲁棒的特性。利用Nyquist稳定性判据,通过分析系统开环传递函数的幅相曲线特性,给出独立于时延的编队控制律存在的充要条件。仿真结果验证了该方法的有效性。
Abstract: A new delay independent distributed formation control law was presented for a network of second-order integrators subject to constant time delays. A new augment variable which represented the integration of distributed formation errors was introduced to improve the robustness of the formation control law. Different from current distributed control laws, the presented control law was robust to some constant bias faults. A condition on the existence of the delay independent formation control law was proposed by using Nyquist stability criterion. The simulation demonstrated the effectiveness of the control law
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