具有输入时延和干扰的鲁棒仿射机动编队控制

Robust Affine Maneuver Formation Control with Input Delay and Disturbance

针对具有输入时延和干扰的多智能体仿射机动跟踪控制问题,提出一种新的具有预设的性能鲁棒仿射编队控制算法。首先利用Artstein模型简化技术,将时延系统转化为无时延系统。通过预设性能函数对系统的跟踪误差设定性能边界。利用误差转换函数设计了一种新的控制律,使得多智能体系统在输入时延和干扰的情况下仍可实现仿射编队机动控制。使用输入到状态稳定和基于李雅普诺夫的分析证明了系统的稳定性。最后,通过数值仿真验证所提出的控制律的有效性。

A novel robust affine formation control algorithm with prescribed performance is proposed for the multi-agent affine maneuver tracking control problem with input time delay and disturbances.Firstly,the time-delay system is converted into a time delay-free system by using the Artstein model reduction method.Performance bounds are set on the tracking error of the system by a prescribed performance function.A new control law is designed using the error transition function that allows the multi-agent system to achieve affine formation maneuver control despite input time delays and disturbances.The stability of the system is proved using input-to-state stabilization and Lyapunov based analysis.Finally,the simulation paradigm shows the effectiveness of the proposed control scheme.