异质非线性多智能体系统时变编队控制

Time-Varying Formation Control for Heterogeneous Nonlinear Multi-Agents System

实际应用中,需要多种智能体按照期望的编队队形协同工作,此时多智能体系统是异质的。针对此问题,文中基于一致性原理研究了异质非线性多智能体系统的时变编队控制问题。采用非线性参数分解的方法,将系统异质非线性项以统一的形式表示,设计了一种编队控制策略。在有向拓扑结构下,使用领导者-跟随者方法,基于自适应策略与状态信息反馈设计了一种自适应时变编队控制策略,并利用Lyapunov稳定性理论证明了控制策略的稳定性。在1个领导者与3个跟随者的情况下进行了仿真,结果显示,在时间为40 s时系统基本稳定,时间为60 s时系统稳定并形成了期望的时变编队,证明了控制策略的有效性。

In practical applications,it is necessary for multiple agents to work together according to the desired formation.At this time,the multi-agents system is heterogeneous.In view of this problem,this study investigates the time-varying formation control problem of heterogeneous nonlinear multi-agents system based on the theory of consensus.A formation control strategy is designed by using the nonlinear parameter decomposition method to represent the heterogeneous nonlinear terms in a unified form.An adaptive time-varying formation control strategy is designed based on adaptive strategy and state information feedback using the leader-follower method under directed topology,and the stability of the control strategy is proved by using Lyapunov stability theory.The simulation carried out in the case of one leader with three followers shows that the system is basically stable when the time is 40 s,and the system is stable and formed the desired time-varying formation when the time is 60 s,which verifies the effectiveness of the control strategy.