| 时滞网络化群体编队控制系统收敛性分析 |
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| 引用本文： | 李向舜,方华京.时滞网络化群体编队控制系统收敛性分析[J].武汉理工大学学报(交通科学与工程版),2011(6). |
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| 作者姓名： | 李向舜 方华京 |
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| 作者单位： | 武汉理工大学自动化学院;华中科技大学控制科学与工程系; |
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| 基金项目： | 国家自然科学基金项目(批准号:60574088,60874053); 武汉市晨光计划项目(批准号:201150431090)资助 |
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| 摘 要： | 针对时滞网络化群体的编队控制问题,设计了PD控制器进行控制.群体为双积分系统,群体中的个体之间基于固定的拓扑结构图进行交互作用.个体的反馈控制作用仅仅基于个体与其邻居之间的相对信息,通信拓扑结构图可以为无向和有向图.设计了PD控制器来提高系统的收敛性.通过仿真确定了PD控制器的比例系数、微分系数对系统收敛性的影响,并给出了设计控制器参数的方法.仿真结果表明所设计的PD控制器提高了系统的收敛性.
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| 关 键 词： | 编队控制 时滞 PD控制器 收敛性 |
Analysis on Convergence of Networked Swarm Agents Formation System with Time Delays |
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| Li Xiangshun, Fang Huajing.Analysis on Convergence of Networked Swarm Agents Formation System with Time Delays[J].journal of wuhan university of technology(transportation science&engineering),2011(6). |
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| Authors: | Li Xiangshun Fang Huajing |
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| Institution: | Li Xiangshun1,2) Fang Huajing2)(School of Automation,Wuhan University of Technology,Wuhan 430070,China)1)(Department of Control Science & Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)2) |
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| Abstract: | Aimed at formation control of networked multi-agent systems with time delays,a PD controller is designed.The vehicles modeled as double integrator interact with each other according to a predefined graph.The feedback control law is based only on relative information about vehicle states shared via undirected or directed communication links.The PD controller is proposed to improve convergence of formation systems with time delays.The relations between parameters of PD controller and convergence of system are... |
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| Keywords: | formation control time delay PD controller convergence |
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