时滞网络化群体编队控制系统收敛性分析

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.%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 analyzed by simulations. The method to design parameters of controller is given. Simulations show that this PD controller improves convergence of system.