多时变时滞的多智能体系统的分布式编队控制

罗贺富; 彭世国

doi:10.12052/gdutxb.160104

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多时变时滞的多智能体系统的分布式编队控制

综合研究 | 更新时间：2026-05-27

- 多时变时滞的多智能体系统的分布式编队控制
- Distributed Formation Control of Multi-agent Systems with Coupling Time-varying Delays
- 广东工业大学学报 2017年34卷第4期页码：89-96
- 作者机构：
- 作者简介：
  
  罗贺富(1991–)，男，硕士研究生，主要研究方向为非线性系统、多智能体系统、鲁棒控制.E-mail:luohefu@163.com
- 基金信息：
  
  国家自然科学基金资助项目（61374081）;广东省自然科学基金资助项目（S2013010013034）
- DOI：10.12052/gdutxb.160104
  中图分类号： TP273
- 网络首发：2017-07-09，
  
  纸质出版：2017
- 稿件说明：
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罗贺富, 彭世国. 多时变时滞的多智能体系统的分布式编队控制[J]. 广东工业大学学报, 2017, 34(4): 89-96.

Luo He-fu, Peng Shi-guo. Distributed Formation Control of Multi-agent Systems with Coupling Time-varying Delays[J]. 2017, 34(4): 89-96.
罗贺富, 彭世国. 多时变时滞的多智能体系统的分布式编队控制[J]. 广东工业大学学报, 2017, 34(4): 89-96. DOI： 10.12052/gdutxb.160104.

Luo He-fu, Peng Shi-guo. Distributed Formation Control of Multi-agent Systems with Coupling Time-varying Delays[J]. 2017, 34(4): 89-96. DOI： 10.12052/gdutxb.160104.

摘要

在联合连通的切换拓扑结构下，首次研究具有多时变时滞的二阶多智能体系统的编队控制问题.设计智能体分布式编队控制协议，通过模型变换并运用Lyapunov-Krasovskii理论分析系统的稳定性，以线性矩阵不等式（LMIs）的形式给出了多智能体系统实现稳定编队的充分条件.分析具有环形联合连通拓扑结构的系统的优越性，并通过仿真实验来验证算法的正确性和有效性.研究结果表明，只需在联合连通的通讯拓扑结构下，提出的方法就能使得系统实现理想的速度和稳定的编队，并且允许系统存在多个更大的时变时延.

Abstract

Formation control problem of second-order multi-agent systems with coupling time-varying delays and switching topologies is firstly investigated in this research. A distributed formation control protocol is designed based on consensus theory. By introducing model transformation method and Lyapunov-Krasovskii theory

some sufficient conditions in terms of linear matrix inequalities (LMIs) are given for stable formation control of multi-agent systems and then the priority of a system with circular jointly-connected topologies is analyzed. Finally

simulation results are provided to verify the validity and effectiveness of our theoretical results. The research shows that multi-agent systems with longer time-varying delays can achieve expected stable formation as well as desirable velocity just under a jointly-connected topology.

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references

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