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Distributed PD-type protocol based containment control of multi-agent systems with input delays

机译:具有输入延迟的基于分布式PD类型协议的多主体系统遏制控制

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摘要

In this paper, we investigate the containment control problem with directed communication topologies and time delays. Compared with the widely used containment controller, a distributed PD-type protocol based on the information of neighbors considering the effects of input delays is adopted. A parameter condition for the containment control problem is provided; it is shown that under this condition, the states of the followers will asymptotically converge to the convex hull spanned by the states of leaders if the graph has a directed spanning forest. Then, based on the provided parameter condition, the maximal upper bound of the input delays is obtained by using the pole analysis method. Finally, the numerical examples are used to illustrate the theoretical results. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
机译:在本文中,我们研究了具有定向通信拓扑和时间延迟的安全壳控制问题。与广泛使用的遏制控制器相比,采用了一种基于邻居信息并考虑输入延迟影响的分布式PD型协议。提供了用于密闭控制问题的参数条件;结果表明,在这种情况下,如果该图具有有向跨越的森林,则跟随者的状态将渐近收敛到由领导者状态跨越的凸包。然后,根据提供的参数条件,使用极点分析方法获得输入延迟的最大上限。最后,通过算例说明了理论结果。 (C)2014富兰克林研究所。由Elsevier Ltd.出版。保留所有权利。

著录项

  • 来源
    《Journal of the Franklin Institute》 |2015年第9期|3600-3611|共12页
  • 作者

    Rong Lina; Shen Hao;

  • 作者单位

    Nanjing Univ Posts & Telecommun, Sch Automat, Nanjing 210023, Jiangsu, Peoples R China;

    Anhui Univ Technol, Sch Elect & Informat Engn, Maanshan 243002, Peoples R China;

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  • 正文语种 eng
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  • 入库时间 2022-08-18 02:57:47

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