摘要
对时延影响下多智能体编队的集结进行了研究,提出了一种与模型相关的控制算法。同时,运用Lyapunov稳定性理论、代数图论和矩阵分析等工具,证明了控制器的稳定性。研究结果表明:多智能体编队可以在时延约束的无向通信图下,达到集结。最后,运用三自由度(Three Degree of Freedom,3-DOF)的无人水下航行器(Unmanned Underwater Vehi-cles,UUV)进行数值仿真,验证了控制算法的有效性。
This paper investigates the rendezvous for the multi-agent formation with time delay.A model-dependent control algorithm is presented.Meanwhile,the stability of controller is proved by means of the Lyapunov stability theory,algebraic graph theory,and matrix.It is shown that the rendezvous is achieved in an undirected graph of time delay.At last,a numerical example for3-DOF UUV verifies the effectiveness of the control algorithms.
作者
戴国忠
王怀龙
DAI Guozhong;WANG Huailong(No. 91655 Troops of PLA,Beijing 100036)
出处
《舰船电子工程》
2017年第5期25-27,108,共4页
Ship Electronic Engineering
关键词
多智能体编队
集结
时延
UUV
multi-agent formation
rendezvous
time delay
UUV
