摘要
针对时延约束下多智能体编队的动态跟踪问题,提出了一种与模型无关的控制算法,并运用实用稳定性理论、图论和矩阵分析等工具,实现了多跟随者在时延影响的有向通信图下对单动态领航者的实用跟踪。基于Matlab的线性矩阵不等式(Linear Matrix Inequality,LMI)工具箱,以三自由度(Three Degree of Freedom,3-DOF)的无人水下航行器(Unmanned Underwater Vehicles,UUV)进行数值仿真实验,可证明算法的正确性。
For the dynamic tracking problem of the multi-agent formation with time delay,a model-independent control algorithm is proposed,and all followers can track a dynamic leader practically in a directed graph of time delay based on the practical stability theory,graph theory and matrix analysis. 3-DOF UUV as numerical simulations can prove the correctness of the algorithms based on the LMI toolbox of Matlab.
出处
《指挥控制与仿真》
2017年第3期36-39,共4页
Command Control & Simulation
关键词
多智能体编队
动态跟踪
与模型无关
时延
UUV
the multi-agent formation
dynamic tracking
model-independent
time delay
UUV
