基于领航者跟随者的群系统保性能编队控制

Guaranteed-performance formation control of swarm systems based on leader-follower strategy

针对群系统编队跟踪控制问题,提出了一种切换拓扑下保性能的优化控制方法。建立了基于领航跟随结构的编队跟踪控制问题的数学描述,引入分布式性能指标描述群系统编队调节性能。利用一致性理论设计了基于领航跟随结构的编队控制协议。借助李雅普诺夫方法分析系统的闭环稳定性,给出保性能上界的数学表达形式。利用数值仿真验证了所提控制方法的有效性,群系统可在性能上界下实现编队跟踪控制,且在编队跟踪速度和消耗性能方面优于已有文献。

Aiming at the problem of formation tracking control of swarm systems,an optimal control method with guaranteed-performance with switching topologies is proposed.Firstly,a mathematical description of formation tracking control problem based on leader-follower structure is established,and a distributed performance index is introduced to describe the formation adjustment performance of swarm systems.Then,the formation control protocol based on leader-follower structure is designed by using consensus theory.Then,the closed-loop stability of the system is analyzed by means of Lyapunov method,and the mathematical expression of the upper bound of the guaranteedperformance is given.Finally,a numerical simulation is used to verify the effectiveness of the control method,and the swarm system can realize formation tracking control under the upper bound of performance,and the formation tracking speed and performance consumption are better than the existing literature.