摘要
为解决通讯延时对编队控制造成的不利影响,研究网络化多智能体在通讯延时情形下的主从式预测编队控制问题,提出一种主从式预测编队控制架构.在该架构中,所有智能体都基于延时状态预测自身当前时刻状态,用于主动补偿反馈通道延时.主智能体将自身未来预测状态发送给各从智能体,从而主动补偿主从智能体间的通讯延时.仿真结果验证了所提出主从式预测编队控制架构的可行性和灵活性.
To solve the negative effects caused by time-delay, the master-slave formation control problem of networked multi-agents with communication delay is considered,and a master-slave predictive formation control architecture is proposed. Each individual agent estimates its current state based on delayed states with the proposed architecture to compensate time-delay in the feedback channel actively. Master agent estimates its future state and transmits it to each slave agent to compensate the time-delay between master and slave agents actively. Simulations results show the feasibility and flexibility of the proposed architecture.
作者
张天勇
刘国平
ZHANG Tian-yong LIU Guo-ping(School of Astronautics, Harbin Institute of Technology, Harbin 150001, China)
出处
《控制与决策》
EI
CSCD
北大核心
2017年第10期1864-1870,共7页
Control and Decision
基金
国家自然科学基金项目(61333003)
关键词
网络化多智能体
主从式
预测控制
编队控制
通讯时滞
networked multi-agents
master-slave
predictive control
formation control
communication delay
