网络化Euler-Lagrange系统的分布式编队机动控制

Distributed Formation Maneuver Control of Networked Euler-Lagrange Systems

研究了网络化Euler-Lagrange系统自适应编队机动控制问题.针对参数不确定的Euler-Lagrange系统,利用滑模控制方法提出了一种自适应编队机动控制算法.基于Lyapunov稳定性理论,证明了闭环系统的稳定性.该算法的显著特点是通过引入一种特殊的有向网络拓扑来描述智能体之间的通信交互行为,使得系统中跟随者在不需要知道或估计时变机动参数的情况下,能够实现编队的方向、平移、形状的连续改变.最后对提出的自适应编队机动控制算法进行数值模拟以验证该控制方案的有效性.

The adaptive formation maneuver control of networked Euler-Lagrange systems was studied.By means of the sliding mode control approach,an adaptive formation maneuver control algorithm was proposed.Based on the Lyapunov stability theory,the stability of the closed-loop system was proved.The remarkable feature of the algorithm is the special directed network topology introduced to describe the communication interaction behavior between agents.Hence,without the need for knowing or estimating the time-varying maneuver parameters only known to the leaders,the followers in the system can realize the changes of formation continuously,including the scale,the direction,the displacement and the shape.Numerical simulation results verify the effectiveness of the proposed control scheme.