高阶多自主体系统的H_(∞)时变编队跟踪控制

The H_(∞)Time-varying Formation Tracking Control for Continuous Multi-agent System

针对多leader自主体的高阶连续多自主体系统,研究了H_(∞)时变编队跟踪控制问题.首先,假设系统存在时变时延和外界干扰,利用邻接信息设计了分布式时变编队跟踪控制协议.其次,在拓扑满足一定条件时,根据Lyapunov-Krasovskii函数给出了系统实现H_(∞)时变编队跟踪目标的充分条件,并且以LMI的形式给出了控制协议增益矩阵的具体形式.最后,针对由4个follower自主体和2个leader自主体组成的多自主体网络进行了数据仿真.仿真结果表明,当系统存在时变时延和外界干扰时,follower自主体在所设计协议的作用下可实现时变编队,并且跟踪leader自主体状态的凸组合,同时满足H_(∞)性能指标要求.

Aiming at the high-order continuous multi-agent system(MAS)with multiple leaders,the H_(∞)time-varying formation tracking(TVFT)control problem is investigated in this paper.Firstly,considering the time-varying delay and external disturbance,the distributed TVFT control protocols are designed by using the relative information.Then,when the topology satisfies certain conditions,by using Lyapunov-Krasovskii,the sufficient condition for the system to achieve TVFT is given,and the basic form of the protocol gain matrix is given in the form of an LMI.Finally,the simulation results for the MAS consisted of 4 followers and 2 leaders are presented.The simulation results illustrate that under the influence of time-varying delay and extern disturbance,the designed protocols can make the followers realize TVFT with satisfied H_(∞)performance index.